void js03_lineshape_func_free(js03_lineshape_func *f)
{
gsl_interp_accel_free(f->BATH_JS03_gt_r_Spline_Acc);
gsl_interp_accel_free(f->BATH_JS03_gt_i_Spline_Acc);
gsl_spline_free(f->BATH_JS03_gt_r_Spline);
gsl_spline_free(f->BATH_JS03_gt_i_Spline);
}
static float
interp_demData(float *demData, int nl, int ns, double l, double s)
{
if (l<0 || l>=nl-1 || s<0 || s>=ns-1) {
return 0;
}
int ix = (int)s;
int iy = (int)l;
int bilinear = l<3 || l>=nl-3 || s<3 || s>=ns-3;
//int bilinear = 1;
if (bilinear) {
float p00 = demData[ix + ns*(iy )];
float p10 = demData[ix+1 + ns*(iy )];
float p01 = demData[ix + ns*(iy+1)];
float p11 = demData[ix+1 + ns*(iy+1)];
return (float)bilinear_interp_fn(s-ix, l-iy, p00, p10, p01, p11);
}
else {
double ret, x[4], y[4], xi[4], yi[4];
int ii;
for (ii=0; ii<4; ++ii) {
y[0] = demData[ix-1 + ns*(iy+ii-1)];
y[1] = demData[ix + ns*(iy+ii-1)];
y[2] = demData[ix+1 + ns*(iy+ii-1)];
y[3] = demData[ix+2 + ns*(iy+ii-1)];
x[0] = ix - 1;
x[1] = ix;
x[2] = ix + 1;
x[3] = ix + 2;
gsl_interp_accel *acc = gsl_interp_accel_alloc ();
gsl_spline *spline = gsl_spline_alloc (gsl_interp_cspline, 4);
gsl_spline_init (spline, x, y, 4);
yi[ii] = gsl_spline_eval_check(spline, s, acc);
gsl_spline_free (spline);
gsl_interp_accel_free (acc);
xi[ii] = iy + ii - 1;
}
gsl_interp_accel *acc = gsl_interp_accel_alloc ();
gsl_spline *spline = gsl_spline_alloc (gsl_interp_cspline, 4);
gsl_spline_init (spline, xi, yi, 4);
ret = gsl_spline_eval_check(spline, l, acc);
gsl_spline_free (spline);
gsl_interp_accel_free (acc);
return (float)ret;
}
asfPrintError("Impossible.");
}
int load_lens(int l_size ,int* l_values){
double* lens_data = malloc( sizeof(double)*MAXLINES*3);
int* lens_len = malloc( sizeof(int));
load_txt_dbl(lens_data_file, 3, lens_data, lens_len);
int lens_size = *lens_len;
int lmax = (int)get_lmax();
// printf("lmax %d\t%d\n",lmax,lens_size);
double l_raw[lens_size];
double cltt_raw[lens_size];
double cltp_raw[lens_size];
int i,j;
double pt;
j=0;
for (i=0; i<lmax+1; i++){
l_raw[i] = lens_data[j++];
cltt_raw[i] = lens_data[j++];
cltp_raw[i] = lens_data[j++];
}
if (l_values[l_size-1]>l_raw[lmax]){
printf("lens do not contain enough l's, max data %d max lens: %d\n", l_values[l_size-1], (int)l_raw[lmax]);
return 1;
exit;
}
gsl_spline* sptt = gsl_spline_alloc (gsl_interp_cspline, lmax+1);
gsl_spline* sptp = gsl_spline_alloc (gsl_interp_cspline, lmax+1);
gsl_interp_accel* acctt = gsl_interp_accel_alloc();
gsl_interp_accel* acctp = gsl_interp_accel_alloc();
gsl_spline_init(sptt,l_raw,cltt_raw,lmax+1);
gsl_spline_init(sptp,l_raw,cltp_raw,lmax+1);
for (i=0; i<l_size; i++){
pt = (double)l_values[i];
lens_tt[i] = 0.0;
lens_tp[i] = 0.0;
if(pt!=0){
lens_tt[i] = gsl_spline_eval(sptt,pt,acctt);
lens_tp[i] = gsl_spline_eval(sptp,pt,acctp);
}
}
gsl_spline_free(sptt);
gsl_spline_free(sptp);
gsl_interp_accel_free(acctt);
gsl_interp_accel_free(acctp);
return 0;
}
void TrajectoryControl::pathSpline_destroy(spline_param* x_path,
spline_param* y_path, spline_param* ds_path) {
// Distruggo gli oggetti spline
gsl_spline_free(x_path->spline_coeff);
gsl_interp_accel_free(x_path->accumulator);
gsl_spline_free(y_path->spline_coeff);
gsl_interp_accel_free(y_path->accumulator);
gsl_spline_free(ds_path->spline_coeff);
gsl_interp_accel_free(ds_path->accumulator);
}
void free_lens_corr_func(lensCorrFunc lcf)
{
if(lcf->splineM != NULL)
gsl_spline_free(lcf->splineM);
if(lcf->accelM != NULL)
gsl_interp_accel_free(lcf->accelM);
if(lcf->splineP != NULL)
gsl_spline_free(lcf->splineP);
if(lcf->accelP != NULL)
gsl_interp_accel_free(lcf->accelP);
free(lcf);
}
void cosmology::cosmo_free(){
if(verbose){
std::cout<<"# Cosmo free destructor\n";
}
if(bool_zhao){
gsl_interp_accel_free(zhao_acc);
gsl_spline_free(zhao_spline);
bool_zhao=false;
}
if(bool_gen){
gsl_interp_accel_free(gen_acc);
gsl_spline_free(gen_spline);
bool_gen=false;
}
}
int bath_js03_free_params()
{
int i;
i=0;
while(BATH_JS03OpBra[i]>0) {
gsl_interp_accel_free(BATH_JS03BathFunc[i].BATH_JS03_Ct_r_Spline_Acc);
gsl_interp_accel_free(BATH_JS03BathFunc[i].BATH_JS03_Ct_i_Spline_Acc);
gsl_spline_free(BATH_JS03BathFunc[i].BATH_JS03_Ct_r_Spline);
gsl_spline_free(BATH_JS03BathFunc[i].BATH_JS03_Ct_i_Spline);
i++;
}
return 0;
}
static void comp_lens_power_spectrum(lensPowerSpectra lps)
{
#define WORKSPACE_NUM 100000
#define ABSERR 1e-12
#define RELERR 1e-12
#define TABLE_LENGTH 1000
gsl_integration_workspace *workspace;
gsl_function F;
double result,abserr;
double logltab[TABLE_LENGTH];
double logpkltab[TABLE_LENGTH];
double chimax;
int i;
//fill in bin information
chiLim = lps->chiLim;
if(lps->chis1 > lps->chis2)
chimax = lps->chis1;
else
chimax = lps->chis2;
fprintf(stderr,"doing lens pk - chiLim = %lf, chiMax = %lf\n",chiLim,chimax);
//init
workspace = gsl_integration_workspace_alloc((size_t) WORKSPACE_NUM);
F.function = &lenspk_integrand;
F.params = lps;
//make table
double lnlmin = log(wlData.lmin);
double lnlmax = log(wlData.lmax);
for(i=0;i<TABLE_LENGTH;++i)
{
logltab[i] = i*(lnlmax-lnlmin)/(TABLE_LENGTH-1) + lnlmin;
lps->ell = exp(logltab[i]);
gsl_integration_qag(&F,0.0,chimax,ABSERR,RELERR,(size_t) WORKSPACE_NUM,GSL_INTEG_GAUSS51,workspace,&result,&abserr);
logpkltab[i] = log(result);
}
//free
gsl_integration_workspace_free(workspace);
//init splines and accels
if(lps->spline != NULL)
gsl_spline_free(lps->spline);
lps->spline = gsl_spline_alloc(gsl_interp_akima,(size_t) (TABLE_LENGTH));
gsl_spline_init(lps->spline,logltab,logpkltab,(size_t) (TABLE_LENGTH));
if(lps->accel != NULL)
gsl_interp_accel_reset(lps->accel);
else
lps->accel = gsl_interp_accel_alloc();
#undef TABLE_LENGTH
#undef ABSERR
#undef RELERR
#undef WORKSPACE_NUM
}
int calc_ave_delta_sigma_in_bin(double*R,int NR,double*delta_sigma,
double lRlow,double lRhigh,
double*ave_delta_sigma){
int status = 0;
gsl_spline*spline = gsl_spline_alloc(gsl_interp_cspline,NR);
gsl_spline_init(spline,R,delta_sigma,NR);
gsl_interp_accel*acc= gsl_interp_accel_alloc();
gsl_integration_workspace * workspace
= gsl_integration_workspace_alloc(workspace_size);
integrand_params*params=malloc(sizeof(integrand_params));
params->acc=acc;
params->spline=spline;
params->workspace=workspace;
double Rlow=exp(lRlow),Rhigh=exp(lRhigh);
do_integral(ave_delta_sigma,lRlow,lRhigh,params);
*ave_delta_sigma *= 2./(Rhigh*Rhigh-Rlow*Rlow);
gsl_spline_free(spline),gsl_interp_accel_free(acc);
gsl_integration_workspace_free(workspace);
free(params);
return 0;
}
void spline(double *YY,
double *X, double *Y, double *XX, int m1, int m2) {
// m1: length of discrete extremas
// m2: length of original data points
gsl_interp_accel *acc = gsl_interp_accel_alloc ();
const gsl_interp_type *t = gsl_interp_cspline;
gsl_spline *spline = gsl_spline_alloc (t, m1);
/* Core function */
gsl_spline_init (spline, X, Y, m1);
double m;
if (m1 > 2 ) {
for (int j = 0; j < m2; j++) {
YY[j] = gsl_spline_eval (spline, XX[j], acc);
} // end of for-j
} // end of if
else {
m = (Y[1] - Y[0]) / (X[1] - X[0]);
for (int j = 0; j < m2; j++) {
YY[j] = Y[0] + m * (XX[j] - X[0]);
} // end of for-j
} //end of else
// delete[] xd;
gsl_spline_free (spline);
gsl_interp_accel_free (acc);
}
void regrid_sed(double z,double *plam,double *pval,long finelength, \
long sedlength,double *fineplam,double *finepval) {
long ii;
double x[sedlength],y[sedlength];
for (ii=0;ii<sedlength;ii++) {
x[ii] = *(plam+ii) * (1.0 + z);
y[ii] = *(pval+ii);
}
gsl_interp_accel *acc = gsl_interp_accel_alloc();
gsl_spline *spline = gsl_spline_alloc(gsl_interp_cspline, sedlength);
gsl_spline_init(spline, x, y, sedlength);
for (ii=0; ii < finelength; ii++) {
if (*(fineplam+ii)/(1.0 + z) < *(plam+0)) {
*(finepval+ii) = 0.0;
} else {
*(finepval+ii) = gsl_spline_eval (spline, *(fineplam+ii), acc);
}
if (*(finepval+ii) < 0.0)
*(finepval+ii) = 0.0;
}
gsl_spline_free(spline);
gsl_interp_accel_free(acc);
}
int
main (void)
{
int N = 4;
double x[4] = {0.00, 0.10, 0.27, 0.30};
double y[4] = {0.15, 0.70, -0.10, 0.15}; /* Note: first = last
for periodic data */
gsl_interp_accel *acc = gsl_interp_accel_alloc ();
const gsl_interp_type *t = gsl_interp_cspline_periodic;
gsl_spline *spline = gsl_spline_alloc (t, N);
int i; double xi, yi;
printf ("#m=0,S=5\n");
for (i = 0; i < N; i++)
{
printf ("%g %g\n", x[i], y[i]);
}
printf ("#m=1,S=0\n");
gsl_spline_init (spline, x, y, N);
for (i = 0; i <= 100; i++)
{
xi = (1 - i / 100.0) * x[0] + (i / 100.0) * x[N-1];
yi = gsl_spline_eval (spline, xi, acc);
printf ("%g %g\n", xi, yi);
}
gsl_spline_free (spline);
gsl_interp_accel_free (acc);
return 0;
}
void Interpolation::calculateOutputData(double *x, double *y)
{
gsl_interp_accel *acc = gsl_interp_accel_alloc ();
const gsl_interp_type *method;
switch(d_method)
{
case 0:
method = gsl_interp_linear;
break;
case 1:
method = gsl_interp_cspline;
break;
case 2:
method = gsl_interp_akima;
break;
}
gsl_spline *interp = gsl_spline_alloc (method, d_n);
gsl_spline_init (interp, d_x, d_y, d_n);
double step = (d_to - d_from)/(double)(d_points - 1);
for (int j = 0; j < d_points; j++)
{
x[j] = d_from + j*step;
y[j] = gsl_spline_eval (interp, x[j], acc);
}
gsl_spline_free (interp);
gsl_interp_accel_free (acc);
}
int
main (void)
{
int i;
double xi, yi;
double x[10], y[10];
printf ("#m=0,S=2\n");
for (i = 0; i < 10; i++)
{
x[i] = i + 0.5 * sin (i);
y[i] = i + cos (i * i);
printf ("%g %g\n", x[i], y[i]);
}
printf ("#m=1,S=0\n");
{
gsl_interp_accel *acc = gsl_interp_accel_alloc ();
gsl_spline *spline = gsl_spline_alloc (gsl_interp_cspline, 10);
gsl_spline_init (spline, x, y, 10);
for (xi = x[0]; xi < x[9]; xi += 0.01)
{
double yi = gsl_spline_eval (spline, xi, acc);
printf ("%g %g\n", xi, yi);
}
gsl_spline_free (spline);
gsl_interp_accel_free(acc);
}
}
cMorph::~cMorph()
{
gsl_spline_free(splineAkimaPeriodic);
gsl_interp_accel_free(interpolationAccelerator);
splineAkimaPeriodic = NULL;
interpolationAccelerator = NULL;
}
UNUSED static REAL8 XLALSimInspiralNRWaveformGetRefTimeFromRefFreq(
UNUSED LALH5File* file,
UNUSED REAL8 fRef
)
{
#ifndef LAL_HDF5_ENABLED
XLAL_ERROR(XLAL_EFAILED, "HDF5 support not enabled");
#else
/* NOTE: This is an internal function, it is expected that fRef is scaled
* to correspond to the fRef with a total mass of 1 solar mass */
LALH5File *curr_group = NULL;
gsl_vector *omega_t_vec = NULL;
gsl_vector *omega_w_vec = NULL;
gsl_interp_accel *acc;
gsl_spline *spline;
REAL8 ref_time;
curr_group = XLALH5GroupOpen(file, "Omega-vs-time");
ReadHDF5RealVectorDataset(curr_group, "X", &omega_t_vec);
ReadHDF5RealVectorDataset(curr_group, "Y", &omega_w_vec);
acc = gsl_interp_accel_alloc();
spline = gsl_spline_alloc(gsl_interp_cspline, omega_w_vec->size);
gsl_spline_init(spline, omega_w_vec->data, omega_t_vec->data,
omega_t_vec->size);
ref_time = gsl_spline_eval(spline, fRef * (LAL_MTSUN_SI * LAL_PI), acc);
gsl_vector_free(omega_t_vec);
gsl_vector_free(omega_w_vec);
gsl_spline_free(spline);
gsl_interp_accel_free(acc);
return ref_time;
#endif
}
UNUSED static REAL8 XLALSimInspiralNRWaveformGetInterpValueFromGroupAtPoint(
UNUSED LALH5File* file, /**< Pointer to HDF5 file */
UNUSED const char *groupName, /**< Name of group in HDF file */
UNUSED REAL8 ref_point /**< Point at which to evaluate */
)
{
#ifndef LAL_HDF5_ENABLED
XLAL_ERROR(XLAL_EFAILED, "HDF5 support not enabled");
#else
LALH5File *curr_group = NULL;
gsl_vector *curr_t_vec = NULL;
gsl_vector *curr_y_vec = NULL;
gsl_interp_accel *acc;
gsl_spline *spline;
REAL8 ret_val;
curr_group = XLALH5GroupOpen(file, groupName);
ReadHDF5RealVectorDataset(curr_group, "X", &curr_t_vec);
ReadHDF5RealVectorDataset(curr_group, "Y", &curr_y_vec);
acc = gsl_interp_accel_alloc();
spline = gsl_spline_alloc(gsl_interp_cspline, curr_t_vec->size);
gsl_spline_init(spline, curr_t_vec->data, curr_y_vec->data,
curr_t_vec->size);
ret_val = gsl_spline_eval(spline, ref_point, acc);
gsl_vector_free(curr_t_vec);
gsl_vector_free(curr_y_vec);
gsl_spline_free (spline);
gsl_interp_accel_free (acc);
return ret_val;
#endif
}
double calc_corr_at_R(double R,double*k,double*P,int Nk,int N,double h){
double zero,psi,x,t,dpsi,f,PIsinht;
double PI_h = PI/h;
double PI_2 = PI*0.5;
gsl_spline*Pspl = gsl_spline_alloc(gsl_interp_cspline,Nk);
gsl_spline_init(Pspl,k,P,Nk);
gsl_interp_accel*acc= gsl_interp_accel_alloc();
double sum = 0;
int i;
for(i=0;i<N;i++){
zero = i+1;
psi = h*zero*tanh(sinh(h*zero)*PI_2);
x = psi*PI_h;
t = h*zero;
PIsinht = PI*sinh(t);
dpsi = (PI*t*cosh(t)+sinh(PIsinht))/(1+cosh(PIsinht));
if (dpsi!=dpsi) dpsi=1.0;
f = x*get_P(x,R,k,P,Nk,Pspl,acc);
sum += f*sin(x)*dpsi;
}
gsl_spline_free(Pspl),gsl_interp_accel_free(acc);
return sum/(R*R*R*PI*2);
}
void free_lens_power_spectrum(lensPowerSpectra lps)
{
if(lps->spline != NULL)
gsl_spline_free(lps->spline);
if(lps->accel != NULL)
gsl_interp_accel_free(lps->accel);
free(lps);
}
UNUSED static UINT4 XLALSimInspiralNRWaveformGetDataFromHDF5File(
UNUSED REAL8Vector** output, /**< Returned vector uncompressed */
UNUSED LALH5File* pointer, /**< Pointer to HDF5 file */
UNUSED REAL8 totalMass, /**< Total mass of system for scaling */
UNUSED REAL8 startTime, /**< Start time of veturn vector */
UNUSED size_t length, /**< Length of returned vector */
UNUSED REAL8 deltaT, /**< Sample rate of returned vector */
UNUSED const char *keyName /**< Name of vector to uncompress */
)
{
#ifndef LAL_HDF5_ENABLED
XLAL_ERROR(XLAL_EFAILED, "HDF5 support not enabled");
#else
UINT4 idx;
size_t comp_data_length;
REAL8 massTime;
gsl_interp_accel *acc;
gsl_spline *spline;
gsl_vector *knotsVector, *dataVector;
LALH5File *group = XLALH5GroupOpen(pointer, keyName);
knotsVector=dataVector=NULL;
ReadHDF5RealVectorDataset(group, "X", &knotsVector);
ReadHDF5RealVectorDataset(group, "Y", &dataVector);
*output = XLALCreateREAL8Vector(length);
comp_data_length = dataVector->size;
/* SPLINE STUFF */
acc = gsl_interp_accel_alloc();
spline = gsl_spline_alloc(gsl_interp_cspline, comp_data_length);
gsl_spline_init(spline, knotsVector->data, dataVector->data,
comp_data_length);
for (idx = 0; idx < length; idx++)
{
massTime = (startTime + idx*deltaT) / (totalMass * LAL_MTSUN_SI);
/* This if statement is used to catch the case where massTime at idx=0
* ends up at double precision smaller than the first point in the
* interpolation. In this case set it back to exactly the first point.
* Sanity checking that we are not trying to use data below the
* interpolation range is done elsewhere.
*/
if ((idx == 0) && (massTime < knotsVector->data[0]))
{
massTime = knotsVector->data[0];
}
(*output)->data[idx] = gsl_spline_eval(spline, massTime, acc);
}
gsl_vector_free(knotsVector);
gsl_vector_free(dataVector);
gsl_spline_free (spline);
gsl_interp_accel_free (acc);
return XLAL_SUCCESS;
#endif
}
void XYSPline::respline()
{
#ifndef NOGSLLIB
if (m_spline != 0) {
gsl_spline_free(m_spline);
m_spline = 0;
}
#endif
}
void compute_correlation_func(int ObsNr, double *binsamdata, int snap, float mingalmass, float maxgalmass)
{
double *r,*proj,*r_tmp,*proj_tmp;
int ibin, ii, jj;
char buf[1000];
FILE *fa;
gsl_spline *Proj_Spline;
gsl_interp_accel *Proj_SplineAcc;
NR=60;
//printf("\ncalculating correlation function %0.2f < M < %0.2f\n",mingalmass,maxgalmass);
r=malloc(NR*sizeof(double));
proj=malloc(NR*sizeof(double));
halomodel(r,proj,mingalmass,maxgalmass,snap);
Proj_Spline=gsl_spline_alloc(gsl_interp_cspline,NR);
Proj_SplineAcc=gsl_interp_accel_alloc();
gsl_spline_init(Proj_Spline,r,proj,NR);
//for(ii=0;ii<Nbins[snap][ObsNr]-1;ii++)
// printf("Nbins=%d r=%g\n",Nbins[snap][ObsNr], MCMC_Obs[ObsNr].Bin_low[snap][ii]+(MCMC_Obs[ObsNr].Bin_high[snap][ii]-MCMC_Obs[ObsNr].Bin_low[snap][ii])/2.)
for(ii=0;ii<Nbins[snap][ObsNr]-1;ii++)
binsamdata[ii]=gsl_spline_eval(Proj_Spline,MCMC_Obs[ObsNr].Bin_low[snap][ii]+(MCMC_Obs[ObsNr].Bin_high[snap][ii]-MCMC_Obs[ObsNr].Bin_low[snap][ii])/2.,Proj_SplineAcc);
#ifndef PARALLEL
//full3 - full PLANCK
sprintf(buf, "%s/correlation_guo10_bug_fix_full_z0.02_%0.2f_%0.2f.txt",OutputDir, mingalmass,maxgalmass);
if(!(fa = fopen(buf, "w")))
{
char sbuf[1000];
sprintf(sbuf, "can't open file `%s'\n", buf);
terminate(sbuf);
}
for(ii=0;ii<Nbins[snap][ObsNr]-1;ii++)
fprintf(fa, "%g %g %g\n", MCMC_Obs[ObsNr].Bin_low[snap][ii]+(MCMC_Obs[ObsNr].Bin_high[snap][ii]-MCMC_Obs[ObsNr].Bin_low[snap][ii])/2.,binsamdata[ii],binsamdata[ii]*0.1);
//for(ii=0;ii<NR;ii++)
//fprintf(fa, "%g %g %g\n", r[ii],proj[ii],proj[ii]*0.1);
fclose(fa);
#endif
//original wrp calculation out of halo_model
//printf("\n\n %g<M<%g",mingalmass,maxgalmass);
//for(ii=0;ii<NR;ii++)
// printf("r=%g proj=%g\n",r[ii],proj[ii]);
//interpolated into obs bins
//for(ii=0;ii<Nbins[snap][ObsNr]-1;ii++)
// printf("%g %g %g\n", MCMC_Obs[ObsNr].Bin_low[snap][ii]+(MCMC_Obs[ObsNr].Bin_high[snap][ii]-MCMC_Obs[ObsNr].Bin_low[snap][ii])/2.,binsamdata[ii],binsamdata[ii]*0.1);
free(r);
free(proj);
gsl_spline_free(Proj_Spline);
gsl_interp_accel_free(Proj_SplineAcc);
}
Spline::~Spline()
{
if (_spline) {
gsl_spline_free(_spline);
}
if (_accelerator) {
gsl_interp_accel_free(_accelerator);
}
}
XYSPline::~XYSPline()
{
#ifndef NOGSLLIB
if (m_spline != 0)
gsl_spline_free(m_spline);
if (m_accel != 0)
gsl_interp_accel_free(m_accel);
#endif
}
void KKtransform::end() {
interpolate();
transform();
inOut.writeData(txt);
//if (inOut.check) check();
gsl_spline_free(spline);
gsl_interp_accel_free(acc);
gsl_integration_workspace_free (wspace);
return;
}
filter::~filter(){
if(init){
gsl_spline_free(spline);
gsl_interp_accel_free(acc);
}
if (lambda != NULL){
delete [] lambda;
delete [] response;
}
}
void end_mask(void)
{
//////
// Frees all memory related to mask and N(z)
if(mask_set)
free(mask);
if(dndz_set) {
gsl_interp_accel_free(cute_intacc_dndz);
gsl_spline_free(cute_spline_dndz);
}
}
vector<carmen_ackerman_path_point_t>
simulate_car_from_parameters(TrajectoryLookupTable::TrajectoryDimensions &td,
TrajectoryLookupTable::TrajectoryControlParameters &tcp, double v0, double i_phi,
TrajectoryLookupTable::CarLatencyBuffer car_latency_buffer, bool display_phi_profile)
{
vector<carmen_ackerman_path_point_t> path;
if (!tcp.valid)
{
printf("Warning: invalid TrajectoryControlParameters tcp in simulate_car_from_parameters()\n");
return (path);
}
// Create phi profile
gsl_interp_accel *acc;
gsl_spline *phi_spline;
if (tcp.has_k1)
{
double knots_x[4] = {0.0, tcp.tt / 4.0, tcp.tt / 2.0, tcp.tt};
double knots_y[4] = {i_phi, tcp.k1, tcp.k2, tcp.k3};
acc = gsl_interp_accel_alloc();
const gsl_interp_type *type = gsl_interp_cspline;
phi_spline = gsl_spline_alloc(type, 4);
gsl_spline_init(phi_spline, knots_x, knots_y, 4);
}
else
{
double knots_x[3] = {0.0, tcp.tt / 2.0, tcp.tt};
double knots_y[3] = {i_phi, tcp.k2, tcp.k3};
acc = gsl_interp_accel_alloc();
const gsl_interp_type *type = gsl_interp_cspline;
phi_spline = gsl_spline_alloc(type, 3);
gsl_spline_init(phi_spline, knots_x, knots_y, 3);
}
print_phi_profile_temp(phi_spline, acc, tcp.tt, display_phi_profile);
Command command;
Robot_State robot_state;
double distance_traveled = compute_path_via_simulation(robot_state, command, path, tcp, phi_spline, acc, v0, i_phi, car_latency_buffer);
gsl_spline_free(phi_spline);
gsl_interp_accel_free(acc);
td.dist = sqrt(robot_state.pose.x * robot_state.pose.x + robot_state.pose.y * robot_state.pose.y);
td.theta = atan2(robot_state.pose.y, robot_state.pose.x);
td.d_yaw = robot_state.pose.theta;
td.phi_i = i_phi;
td.v_i = v0;
tcp.vf = command.v;
tcp.sf = distance_traveled;
td.control_parameters = tcp;
return (path);
}
void ssm_calc_free(ssm_calc_t *calc, ssm_nav_t *nav)
{
gsl_rng_free(calc->randgsl);
if (nav->implementation == SSM_ODE || nav->implementation == SSM_EKF){
gsl_odeiv2_step_free(calc->step);
gsl_odeiv2_evolve_free(calc->evolve);
gsl_odeiv2_control_free(calc->control);
if(nav->implementation == SSM_EKF){
gsl_vector_free(calc->_pred_error);
gsl_matrix_free(calc->_St);
gsl_matrix_free(calc->_Stm1);
gsl_matrix_free(calc->_Rt);
gsl_matrix_free(calc->_Ht);
gsl_matrix_free(calc->_Kt);
gsl_matrix_free(calc->_Tmp_N_SV_N_TS);
gsl_matrix_free(calc->_Tmp_N_TS_N_SV);
gsl_matrix_free(calc->_Q);
gsl_matrix_free(calc->_FtCt);
gsl_matrix_free(calc->_Ft);
gsl_vector_free(calc->_eval);
gsl_matrix_free(calc->_evec);
gsl_eigen_symmv_free(calc->_w_eigen_vv);
}
} else if (nav->implementation == SSM_SDE){
free(calc->y_pred);
} else if (nav->implementation == SSM_PSR){
ssm_psr_free(calc);
}
free(calc->to_be_sorted);
free(calc->index_sorted);
if(calc->covariates_length){
int k;
for(k=0; k< calc->covariates_length; k++) {
if(calc->spline[k]){
gsl_spline_free(calc->spline[k]);
}
if(calc->acc[k]){
gsl_interp_accel_free(calc->acc[k]);
}
}
free(calc->spline);
free(calc->acc);
}
free(calc);
}
NeutrinoDISCrossSectionsFromTables::~NeutrinoDISCrossSectionsFromTables(){
if(is_init){
// allocate all gsl interpolators
for ( auto it = xs_inter.begin(); it != xs_inter.end(); it++){
gsl_spline_free(*it);
}
// allocate all gsl interpolators accelerators
for ( auto it = xs_acc.begin(); it != xs_acc.end(); it++){
gsl_interp_accel_free(*it);
}
}
}