viewport::viewport(const vec &eyepos,
const vec &eyeforward,
const vec &eyeup,
double hangle,
double vangle)
:
mEyepos(eyepos),
mEyeforward(eyeforward / norm(eyeforward, 2)),
mEyeup((eyeup - dot(mEyeforward, eyeup)*mEyeforward)
/ norm(eyeup - dot(mEyeforward, eyeup)*mEyeforward, 2)),
mHangle(hangle),
mVangle(vangle)
{
//cout << "Viewport constructor" << endl;
mEyeright = cross(eyeforward, eyeup);
//cout << rotmat(mEyeup, hangle/2.0) << endl;
mEyel = rotmat(mEyeup, hangle/2.0) * mEyeforward;
mEyer = rotmat(mEyeup, -hangle/2.0) * mEyeforward;
mEyet = rotmat(mEyeright, vangle/2.0) * mEyeforward;
mEyeb = rotmat(mEyeright, -vangle/2.0) * mEyeforward;
}
double DirectEvaluationSlaterWithJastrow::computeJastrowFactor() {
double jastrowLogarithm = 0;
for (unsigned int electron1 = 0; electron1 < m_system->getElectrons().size(); electron1++) {
for (unsigned int electron2 = electron1+1; electron2 < m_system->getElectrons().size(); electron2++) {
const double r12 = norm(m_system->getElectrons().at(electron1)->getPosition() -
m_system->getElectrons().at(electron2)->getPosition());
const int spin1 = m_system->getElectrons().at(electron1)->getSpin();
const int spin2 = m_system->getElectrons().at(electron2)->getSpin();
const double spinFactor = (spin1 == spin2) ? 0.25 : 0.5;
jastrowLogarithm += spinFactor * r12 / (1 + r12 * m_beta);
}
}
return exp(jastrowLogarithm);
}
ray viewport::genray(double row, double col, double width, double height)
{
vec hor_comp = -(col - width/2.0) / width * (mEyer - mEyel);
//cout << "sub 1" << endl;
vec ver_comp = -(row - height/2.0) / height * (mEyeb - mEyet);
//cout << "sub 2" << endl;
// if((int)floor(row)%100 == 0 && (int)floor(col)%100==0)
// {
// cout << hor_comp << endl;
// cout << ver_comp << endl;
// cout << endl;
// }
ray generated(mEyepos, mEyeforward + hor_comp + ver_comp);
generated.slope /= norm(generated.slope, 2);
return generated;
}
int main(int argc, char **argv)
{
PlayerClient client("localhost");
RangerProxy ranger(&client, 0);
// Perform a preliminary fetch from the robot.
client.Read();
// Pull configuration information from remote ranger to the local ranger
// proxy.
ranger.RequestConfigure();
ranger.RequestGeom();
// Check the number of elements in the ranger
// We only support laser-scanners (single-element, fan-of-readings devices)
if(ranger.GetElementCount() != 1)
{
cerr << "This is not a laser rangefinder." << endl;
}
// Extract the scan parameters
unsigned int num_readings = ranger.GetRangeCount();
double angle_min = ranger.GetMinAngle();
double angle_max = ranger.GetMaxAngle();
double angle_delta = (angle_max - angle_min) / num_readings;
cout << "Found laser ranger with properties: " << endl;
cout << "min angle: " << angle_min << endl;
cout << "max angle: " << angle_max << endl;
cout << "num readings: " << num_readings << endl;
cout << "angle delta: " << angle_delta << endl;
// Turn on the laser
ranger.SetPower(true);
// Storage for the point sequence
mat points(2, num_readings);
// Storage for the delta sequence
mat deltas(2, num_readings-1);
// Storage for the cross product and dot product sequences
mat crossps(1, num_readings-2);
mat dotps(1, num_readings-2);
while(true)
{
// Fetch updates from the robot
client.Read();
// Copy readings from the ranger proxy
double angle = angle_min;
for(int count = 0; count < num_readings; count++)
{
points(0, count) = ranger[count] * cos(angle);
points(1, count) = ranger[count] * sin(angle);
angle += angle_delta;
}
// Compute deltas
for(int count = 1; count < num_readings; count++)
{
deltas.col(count-1) = points.col(count) - points.col(count-1);
deltas.col(count-1) /= norm(deltas.col(count-1), 2);
}
// Compute cross products and dot products
for(int count = 2; count < num_readings; count++)
{
crossps(0, count-2) = deltas(0,count-2)*deltas(1, count-1)
- deltas(0, count-1)*deltas(1, count-2);
dotps(0, count-2) = dot(deltas.col(count-2), deltas.col(count-1));
}
// Bootstrap output
angle = angle_min;
for(int count = 2; count < num_readings; count++)
{
cout << angle << " " << crossps(0, count-2) << endl;
angle += angle_delta;
}
cout << endl;
break;
}
return 0;
}
