int main(int argc, char **argv){
PetscErrorCode ierr;
Vec x,b;
Mat A;
KSP ksp;
ierr=PetscInitialize(&argc,&argv,PETSC_NULL,PETSC_NULL);CHKERRQ(ierr);
PetscPrintf(PETSC_COMM_WORLD,"]> Initializing PETSc/SLEPc\n");
/*Load data*/
ierr=loadInputs(&A,&b,&x);CHKERRQ(ierr);
PetscPrintf(PETSC_COMM_WORLD,"]> Data loaded\n");
/*Create the KSP context and setup*/
ierr = KSPCreate(PETSC_COMM_WORLD,&ksp);CHKERRQ(ierr);
ierr = KSPSetType(ksp,KSPFGMRES);CHKERRQ(ierr);
ierr = KSPSetOperators(ksp,A,A,DIFFERENT_NONZERO_PATTERN);CHKERRQ(ierr);
ierr = KSPSetFromOptions(ksp);CHKERRQ(ierr);
ierr = KSPSetUp(ksp);CHKERRQ(ierr);
PetscPrintf(PETSC_COMM_WORLD,"]> Krylov Solver settings done\n");
/*Solve the system*/
PetscPrintf(PETSC_COMM_WORLD,"]> Krylov Solver Launching solving process\n");
ierr = KSPSolve(ksp, b, x); CHKERRQ(ierr);
PetscPrintf(PETSC_COMM_WORLD,"]> Krylov Solver System solved\n");
/*Clean*/
ierr = KSPDestroy(&ksp);CHKERRQ(ierr);
ierr = VecDestroy(&b);CHKERRQ(ierr);
ierr = VecDestroy(&x);CHKERRQ(ierr);
ierr = MatDestroy(&A);CHKERRQ(ierr);
PetscPrintf(PETSC_COMM_WORLD,"]> Cleaned structures, finalizing\n");
/*Finalize PETSc*/
PetscFinalize();
return 0;
}
decision ctrBasic::think()
{
decision decision;
loadInputs();
std::pair<bool, int> best_score=front_score;
decision.turn_right=0;
decision.turn_left=0;
if (right_score<best_score)
{
best_score=right_score;
decision.turn_right=1;
decision.turn_left=0;
}
if (left_score<best_score)
{
best_score=left_score;
decision.turn_right=0;
decision.turn_left=1;
}
decision.boost_speed=0;
decision.boost_defence=0;
//cerr<<front_score.second<<" "<<right_score.second<<" "<<left_score.second<<" "<<decision.turn_right<<" "<<decision.turn_left<<endl;
//if (front_score.second<0 && right_score.second<0 && left_score.second<0) getch();
if (body_length>=split_treshhold)
{
decision.split=1;
decision.split_length=ceil(split_part);
}
else
{
decision.split=0;
}
return decision;
}
HiEqualization::HiEqualization(QString fromListName) :
Equalization() {
loadInputs(fromListName);
}