t_node *add_block(t_context *C,const char *name)
{
// Get Set
t_set *set = get_current_set(C);
// New Block
t_node *node_block=block_make(name,"block");
t_block *block = ( t_block *) node_block->data;
// Draw Outline
block->block_state.draw_outline = 1;
// Add to Set
set_block_push(set,block);
// Set Block Pos
if(current_frame != C->app->frame)
{
current_frame = C->app->frame;
block_pos_offset = 0;
}
float p[2];
ctx_get_mouse_pos(C,p);
if( opt_op_use_random) vset3f(block->pos,p[0] * _rnd() ,p[1] * _rnd() ,0);
else vset3f(block->pos,p[0],p[1]+block_pos_offset,0);
return node_block;
}
static float
_rnd(float n)
{
if (n > 0) {
int random = rand();
float randomf = (random * 1.0) / RAND_MAX;
return randomf;
}
if (n < 0) {
srand(n);
return _rnd(1);
}
time_t now;
struct tm *tm;
now = time(NULL);
tm = localtime(&now);
float randomf = (tm->tm_sec * 1.0) / 60;
return randomf;
}
_GA_Solver<_Individual,_NumberOfIndividual,_Selector,_Scaler,is_Multi>::_GA_Solver(std::vector<_Individual*> solve_targets):
_population(solve_targets),
_mt(std::mt19937(_rnd())),
_distribution(std::uniform_real_distribution<double>(0,1))
{
}
int main(int argc, char* argv[])
{
RndSharedData _data;
bool _shake = false;
if (YARPParseParameters::parse(argc, argv, "-shake"))
_shake = true;
RndBehavior _rnd(&_data);
RBInitMotion initMotion;
RBInitShake initShakeWrist(YVector(6, __wrist), "wrist");
RBInitShake initShakeForearm(YVector(6, __forearm), "forearm");
RBInitShake initShakeArm(YVector(6, __arm), "arm");
RBWaitIdle waitIdle("wait idle");
RBWaitIdle stopped("rnd stopped");
RBInit init;
RBWaitDeltaT waitDeltaT1(2);
RBWaitDeltaT waitDeltaT2(2);
RBWaitMotion waitMotion("waiting on arm random motion");
RBWaitMotion waitShakeWrist("waiting on wrist shake");
RBWaitMotion waitShakeForearm("waiting on forearm shake");
RBWaitMotion waitShakeArm("waiting on arm shake");
RBWaitMotion waitRest("wating on rest");
// input states
RBSimpleInput motionDone(YBVArmDone);
RBSimpleInput armStarted(YBVArmIssuedCmd);
RBSimpleInput armBusy(YBVArmIsBusy);
RBSimpleInput start(YBVArmRndStart);
RBSimpleInput stop(YBVArmRndStop);
RBSimpleInput rest(YBVArmRest);
RBSimpleInput restDone(YBVArmRestDone);
RBSimpleOutput inhibitRest(YBVArmInhibitResting);
RBSimpleOutput inhibitHead(YBVSinkInhibitAll);
RBSimpleOutput enableHead(YBVSinkEnableAll);
RBRndReset resetRnd;
///////////////////////////////////////
RBWaitDeltaT trState1(1);
RBWaitDeltaT trState2(1);
RBWaitDeltaT waitSomeTime(4);
// arm random movement
_rnd.setInitialState(&init);
_rnd.add(NULL, &init, &waitIdle);
_rnd.add(&stop, &waitIdle, &stopped);
_rnd.add(&rest, &waitIdle, &waitRest, &resetRnd);
_rnd.add(&start, &waitIdle, &initMotion);
// rest
_rnd.add(&rest, &initMotion, &waitRest, &resetRnd);
_rnd.add(&rest, &waitMotion, &waitRest, &resetRnd);
_rnd.add(&stop, &waitMotion, &stopped);
_rnd.add(&armBusy, &waitMotion, &waitRest, &resetRnd);
_rnd.add(&armStarted, &initMotion, &waitMotion);
_rnd.add(&armBusy, &initMotion, &waitRest, &resetRnd);
// no shake
if (!_shake)
{
_rnd.add(&motionDone, &waitMotion, &waitSomeTime);
_rnd.add(&rest, &waitSomeTime, &waitRest, &resetRnd);
_rnd.add(NULL, &waitSomeTime, &initMotion);
}
else
{
// shake sequences
// wrist only
// JUST ADDED
_rnd.add(&motionDone, &waitMotion, &trState1, &inhibitRest);
_rnd.add(NULL, &trState1, &initShakeWrist, &inhibitHead);
// _rnd.add(&motionDone, &waitMotion, &initShakeWrist, &inhibitRest);
_rnd.add(&rest, &waitMotion, &waitRest);
_rnd.add(NULL, &initShakeWrist, &waitShakeWrist);
// _rnd.add(&motionDone, &waitShakeWrist, &initMotion, &inhibitRest);
// JUST ADDED
_rnd.add(&motionDone, &waitShakeWrist, &trState2, &enableHead);
_rnd.add(&stop, &waitShakeWrist, &stopped);
_rnd.add(NULL, &trState2, &initMotion, &inhibitRest);
/* other joints
_rnd.add(&motionDone, &waitShakeWrist, &waitDeltaT1);
_rnd.add(NULL, &waitDeltaT1, &initShakeForearm);
_rnd.add(NULL, &initShakeForearm, &waitShakeForearm);
_rnd.add(&motionDone, &waitShakeForearm, &waitDeltaT2);
_rnd.add(NULL, &waitDeltaT2, &initShakeArm);
_rnd.add(NULL, &initShakeArm, &waitShakeArm);
_rnd.add(&motionDone, &waitShakeArm, &initMotion, &inhibitRest);
*/
// rest
_rnd.add(&rest, &waitShakeWrist, &waitRest);
_rnd.add(&rest, &waitShakeForearm, &waitRest);
_rnd.add(&rest, &waitShakeArm, &waitRest);
_rnd.add(&stop, &waitShakeForearm, &stopped);
_rnd.add(&stop, &waitShakeArm, &stopped);
}
// wait rest
_rnd.add(&stop, &waitRest, &stopped);
_rnd.add(&restDone, &waitRest, &initMotion);
_rnd.add(&start, &stopped, &init);
_rnd.Begin();
_rnd.loop();
return 0;
}
