vector<string> wordBreak(string s, unordered_set<string> &dict) {
//程序的一个意思就是，在一个大循环i里面,再设置一个小循环j
//数组Br[i][j]代表从j到i可以分开，且在之前的都没有问题
//条件就是从j到i能够在提供的所有字符串中找到，且Br[j-1]不为空---意思就是我从0到j也能够被分割，至于存放啥，不管。
vector<string> result;
if(s.empty()){
result.push_back("");
return result;
}
const int n=s.size();
vector <vector <int> >Br(n,vector<int>());
for (int i=0;i<n;i++){
for (int j=i;j>=0;j--){
if (dict.find(s.substr(j,i-j+1))!=dict.end()&&(j==0||!Br[j-1].empty())){
//从j开始
Br[i].push_back(j);
}
}
}
vector<string> answer;
breakHelper(s,n-1,Br,answer,result);
return result;
}
vector<string> wordBreak(string s, unordered_set<string> &dict) {
/* https://oj.leetcode.com/problems/word-break-ii/
*/
vector<string> result;
if (s.empty()) {
result.push_back("");
return result;
}
const int n = s.size();
vector<vector<int> > Br(n, vector<int>());
for (int i = 0; i < n; i++) {
for (int j = i; j >= 0; j--) {
if (dict.find(s.substr(j, i-j+1)) != dict.end() && (j == 0 || !Br[j-1].empty())) {
Br[i].push_back(j);
}
}
}
vector<string> answer;
breakHelper(s, n-1, Br, answer, result);
return result;
}
inline
int solve (int sys, int n,
int const* Ap, int const* Ai, traits::complex_d const* Ax,
traits::complex_d* X, traits::complex_d const* B,
void *Numeric, double const* Control, double* Info)
{
int nnz = Ap[n];
bindings::detail::array<double> Axr (nnz);
if (!Axr.valid()) return UMFPACK_ERROR_out_of_memory;
bindings::detail::array<double> Axi (nnz);
if (!Axi.valid()) return UMFPACK_ERROR_out_of_memory;
traits::detail::disentangle (Ax, Ax+nnz,
Axr.storage(), Axi.storage());
bindings::detail::array<double> Br (n);
if (!Br.valid()) return UMFPACK_ERROR_out_of_memory;
bindings::detail::array<double> Bi (n);
if (!Bi.valid()) return UMFPACK_ERROR_out_of_memory;
traits::detail::disentangle (B, B+n,
Br.storage(), Bi.storage());
bindings::detail::array<double> Xr (n);
if (!Xr.valid()) return UMFPACK_ERROR_out_of_memory;
bindings::detail::array<double> Xi (n);
if (!Xi.valid()) return UMFPACK_ERROR_out_of_memory;
int status = umfpack_zi_solve (sys, Ap, Ai,
Axr.storage(), Axi.storage(),
Xr.storage(), Xi.storage(),
Br.storage(), Bi.storage(),
Numeric, Control, Info);
if (status != UMFPACK_OK) return status;
traits::detail::interlace (Xr.storage(), Xr.storage() + n,
Xi.storage(), X);
return status;
}
inline
int scale (int n, traits::complex_d* X,
traits::complex_d const* B, void* Numeric)
{
bindings::detail::array<double> Br (n);
if (!Br.valid()) return UMFPACK_ERROR_out_of_memory;
bindings::detail::array<double> Bi (n);
if (!Bi.valid()) return UMFPACK_ERROR_out_of_memory;
traits::detail::disentangle (B, B+n,
Br.storage(), Bi.storage());
bindings::detail::array<double> Xr (n);
if (!Xr.valid()) return UMFPACK_ERROR_out_of_memory;
bindings::detail::array<double> Xi (n);
if (!Xi.valid()) return UMFPACK_ERROR_out_of_memory;
int status = umfpack_zi_scale (Xr.storage(), Xi.storage(),
Br.storage(), Bi.storage(),
Numeric);
if (status != UMFPACK_OK) return status;
traits::detail::interlace (Xr.storage(), Xr.storage() + n,
Xi.storage(), X);
return status;
}
int main( int argc, char **argv )
{
Hubo_Control hubo("proto-manip-daemon");
ach_channel_t chan_manip_cmd;
int r = ach_open( &chan_manip_cmd, CHAN_HUBO_MANIP, NULL );
daemon_assert( r==ACH_OK, __LINE__ );
hubo_manip_cmd manip;
memset( &manip, 0, sizeof(manip) );
hubo.update();
Eigen::Isometry3d Br, Bl;
Vector6d right, left, zeros; zeros.setZero();
Vector3d rtrans, ltrans, langles, rangles;
hubo.getRightArmAngles(right);
hubo.getLeftArmAngles(left);
hubo.huboArmFK( Br, right, RIGHT );
hubo.huboArmFK( Bl, left, LEFT );
std::cout << "Performed initial FK" << std::endl;
for(int i=0; i<3; i++)
{
manip.translation[RIGHT][i] = Br(i,3);
manip.translation[LEFT][i] = Bl(i,3);
}
std::cout << "Putting first transformation" << std::endl;
ach_put( &chan_manip_cmd, &manip, sizeof(manip) );
size_t fs;
std::cout << "About to start loop" << std::endl;
while( !daemon_sig_quit )
{
hubo.update();
ach_get( &chan_manip_cmd, &manip, sizeof(manip), &fs, NULL, ACH_O_LAST );
for(int i=0; i<3; i++)
{
rtrans(i) = manip.translation[RIGHT][i];
ltrans(i) = manip.translation[LEFT][i];
rangles(i) = manip.eulerAngles[RIGHT][i];
langles(i) = manip.eulerAngles[LEFT][i];
}
// Handle the right arm
Br = Eigen::Matrix4d::Identity();
Br.translate(rtrans);
Br.rotate( Eigen::AngleAxisd(rangles(0), Vector3d(1,0,0)) );
Br.rotate( Eigen::AngleAxisd(rangles(1), Vector3d(0,1,0)) );
Br.rotate( Eigen::AngleAxisd(rangles(2), Vector3d(0,0,1)) );
hubo.huboArmIK( right, Br, zeros, RIGHT );
hubo.setRightArmAngles( right );
// Handle the left arm
Bl = Eigen::Matrix4d::Identity();
Bl.translate(ltrans);
Bl.rotate( Eigen::AngleAxisd(langles(0), Vector3d(1,0,0)) );
Bl.rotate( Eigen::AngleAxisd(langles(1), Vector3d(0,1,0)) );
Bl.rotate( Eigen::AngleAxisd(langles(2), Vector3d(0,0,1)) );
hubo.huboArmIK( left, Bl, zeros, LEFT );
hubo.setLeftArmAngles( left );
// Send commands off to the control daemon
hubo.sendControls();
}
ach_close( &chan_manip_cmd );
}
