IntRect computeTextBoundingBox(const RenderText& textRenderer, const Layout& layout)
{
auto resolver = lineResolver(toRenderBlockFlow(*textRenderer.parent()), layout);
auto it = resolver.begin();
auto end = resolver.end();
if (it == end)
return IntRect();
auto firstLineRect = *it;
float left = firstLineRect.x();
float right = firstLineRect.maxX();
float bottom = firstLineRect.maxY();
for (++it; it != end; ++it) {
auto rect = *it;
if (rect.x() < left)
left = rect.x();
if (rect.maxX() > right)
right = rect.maxX();
if (rect.maxY() > bottom)
bottom = rect.maxY();
}
float x = left;
float y = firstLineRect.y();
float width = right - left;
float height = bottom - y;
return enclosingIntRect(FloatRect(x, y, width, height));
}
/// header consists of two lines
HeaderInfo::HeaderInfo(const std::string& line1, const std::string& line2){
// this will contain matches to regular expressions
smatch matches;
// matches a single number followed by either tabs or spaces
string singleNumber("([-+]?[0-9]*\\.?[0-9]+)[\\s\\t]*");
// coordinate system
Vector origin(3);
Vector maxX(3);
Vector maxY(3);
double xSpacing=0.0;
double ySpacing=0.0;
double offset=0.0;
// first line defines coordinate system for illuminance map
// there will be 9 numbers separated by spaces or tabs
// first 3 are origin point, second 3 are max x, last 3 are max y
stringstream coordSystemSS;
for (unsigned i = 0; i < 9; ++i){
coordSystemSS << singleNumber;
}
const regex coordSystem(coordSystemSS.str());
if (regex_search(line1, matches, coordSystem)){
origin(0) = lexical_cast<double>( string(matches[1].first, matches[1].second) );
origin(1) = lexical_cast<double>( string(matches[2].first, matches[2].second) );
origin(2) = lexical_cast<double>( string(matches[3].first, matches[3].second) );
maxX(0) = lexical_cast<double>( string(matches[4].first, matches[4].second) );
maxX(1) = lexical_cast<double>( string(matches[5].first, matches[5].second) );
maxX(2) = lexical_cast<double>( string(matches[6].first, matches[6].second) );
maxY(0) = lexical_cast<double>( string(matches[7].first, matches[7].second) );
maxY(1) = lexical_cast<double>( string(matches[8].first, matches[8].second) );
maxY(2) = lexical_cast<double>( string(matches[9].first, matches[9].second) );
}else{
LOG(Fatal, "No coordinate system defined in line1: '" << line1 << "'");
}
// second line defines offsets and spacing
stringstream spacingOffsetSS;
for (unsigned i = 0; i < 3; ++i){
spacingOffsetSS << singleNumber;
}
const regex spacingOffset(spacingOffsetSS.str());
if (regex_search(line2, matches, spacingOffset)){
xSpacing = lexical_cast<double>( string(matches[1].first, matches[1].second) );
ySpacing = lexical_cast<double>( string(matches[2].first, matches[2].second) );
offset = lexical_cast<double>( string(matches[3].first, matches[3].second) );
}else{
LOG(Fatal, "No spacing or offsets defined in line2: '" << line2 << "'");
}
// we can now initialize x and y vectors
// DLM@20090803: this is not correct for arbitrary grids, revist
m_xVector = deltaSpace(origin(0) + offset, maxX(0), xSpacing);
m_yVector = deltaSpace(origin(1) + offset, maxY(1), ySpacing);
}
void LineDecoration::draw(Drawable* d) {
for (int i=0; i<_top; i++) {
ugui_line(i, i, maxX(d)-i, i, _color); // Top
ugui_line(i, maxY(d)-i, maxX(d)-i, maxY(d)-i, _color); // Bottom
ugui_line(i, i, i, maxY(d)-i, _color ); // Left
ugui_line(maxX(d) - i, i, maxX(d)-i, maxY(d)-i, _color ); // Right
}
}
bool FloatRect::contains(const FloatPoint& point,
ContainsMode containsMode) const {
if (containsMode == InsideOrOnStroke)
return contains(point.x(), point.y());
return x() < point.x() && maxX() > point.x() && y() < point.y() &&
maxY() > point.y();
}
void tScetch::setTrs()
{
scaleX=(width()-2*ofs)/(double)(maxX()-minX());
scaleY=(height()-2*ofs)/(double)maxY();
if(scaleX>scaleY) scaleX=scaleY;
else scaleY=scaleX;
}
void defiGroup::print(FILE* f) const {
int i;
fprintf(f, "Group '%s'\n", name());
if (hasRegionName()) {
fprintf(f, " region name '%s'\n", regionName());
}
if (hasRegionBox()) {
int size = numRects_;
int* xl = xl_;
int* yl = yl_;
int* xh = xh_;
int* yh = yh_;
for (i = 0; i < size; i++)
fprintf(f, " region box %d,%d %d,%d\n", xl[i], yl[i], xh[i], yh[i]);
}
if (hasMaxX()) {
fprintf(f, " max x %d\n", maxX());
}
if (hasMaxY()) {
fprintf(f, " max y %d\n", maxY());
}
if (hasPerim()) {
fprintf(f, " perim %d\n", perim());
}
}
bool VertexPair::overlapsRect(const FloatRect& rect) const
{
bool boundsOverlap = (minX() < rect.maxX()) && (maxX() > rect.x()) && (minY() < rect.maxY()) && (maxY() > rect.y());
if (!boundsOverlap)
return false;
float leftSideValues[4] = {
leftSide(vertex1(), vertex2(), rect.minXMinYCorner()),
leftSide(vertex1(), vertex2(), rect.maxXMinYCorner()),
leftSide(vertex1(), vertex2(), rect.minXMaxYCorner()),
leftSide(vertex1(), vertex2(), rect.maxXMaxYCorner())
};
int currentLeftSideSign = 0;
for (unsigned i = 0; i < 4; ++i) {
if (!leftSideValues[i])
continue;
int leftSideSign = leftSideValues[i] > 0 ? 1 : -1;
if (!currentLeftSideSign)
currentLeftSideSign = leftSideSign;
else if (currentLeftSideSign != leftSideSign)
return true;
}
return false;
}
// True if this structure has valid values
bool isValid()
{
return
minX() <= maxX() &&
minY() <= maxY() &&
minZ() <= maxZ();
}
bool LayoutRect::intersects(const LayoutRect& other) const
{
// Checking emptiness handles negative widths as well as zero.
return !isEmpty() && !other.isEmpty()
&& x() < other.maxX() && other.x() < maxX()
&& y() < other.maxY() && other.y() < maxY();
}
FloatShapeInterval OffsetPolygonEdge::clippedEdgeXRange(float y1,
float y2) const {
if (!overlapsYRange(y1, y2) || (y1 == maxY() && minY() <= y1) ||
(y2 == minY() && maxY() >= y2))
return FloatShapeInterval();
if (isWithinYRange(y1, y2))
return FloatShapeInterval(minX(), maxX());
// Clip the edge line segment to the vertical range y1,y2 and then return
// the clipped line segment's horizontal range.
FloatPoint minYVertex;
FloatPoint maxYVertex;
if (vertex1().y() < vertex2().y()) {
minYVertex = vertex1();
maxYVertex = vertex2();
} else {
minYVertex = vertex2();
maxYVertex = vertex1();
}
float xForY1 = (minYVertex.y() < y1) ? xIntercept(y1) : minYVertex.x();
float xForY2 = (maxYVertex.y() > y2) ? xIntercept(y2) : maxYVertex.x();
return FloatShapeInterval(std::min(xForY1, xForY2), std::max(xForY1, xForY2));
}
void RRTstar_planning(){
ROS_INFO("RRT star planning");
ob::StateSpacePtr space(new ob::RealVectorStateSpace(2));
space->as<ob::RealVectorStateSpace>()->setBounds(minX(local_map->info), maxX(local_map->info));
space->setLongestValidSegmentFraction(0.01/(maxX(local_map->info)-minX(local_map->info)));
ob::SpaceInformationPtr si(new ob::SpaceInformation(space));
si->setStateValidityChecker(ob::StateValidityCheckerPtr(new ValidityChecker(si)));
si->setup();
ob::ScopedState<> start(space);
start->as<ob::RealVectorStateSpace::StateType>()->values[0] = startState[0];
start->as<ob::RealVectorStateSpace::StateType>()->values[1] = startState[1];
ob::ScopedState<> goal(space);
goal->as<ob::RealVectorStateSpace::StateType>()->values[0] = goalState[0];
goal->as<ob::RealVectorStateSpace::StateType>()->values[1] = goalState[1];
ob::ProblemDefinitionPtr pdef(new ob::ProblemDefinition(si));
pdef->setStartAndGoalStates(start, goal);
pdef->setOptimizationObjective(ob::OptimizationObjectivePtr(new ClearanceObjective(si)));
og::RRTstar *plan_pt=new og::RRTstar(si);
plan_pt->setGoalBias(0.05);
plan_pt->setRange(1.0);
ob::PlannerPtr optimizingPlanner(plan_pt);
optimizingPlanner->setProblemDefinition(pdef);
optimizingPlanner->setup();
ob::PlannerStatus solved;
int it=0;
while(solved!=ompl::base::PlannerStatus::StatusType::EXACT_SOLUTION && it<100){
it++;
solved = optimizingPlanner->solve(1.0);
}
if(solved==ompl::base::PlannerStatus::StatusType::EXACT_SOLUTION){
std::vector< ob::State * > sol = boost::static_pointer_cast<og::PathGeometric>(pdef->getSolutionPath())->getStates();
current_path_raw.resize(sol.size());
std::transform(sol.begin(), sol.end(), current_path_raw.begin(), &obstateState);
/*std::cout << "Path length: " << pdef->getSolutionPath()->length() << std::endl;
std::cout << "Path cost: " << pdef->getSolutionPath()->cost(pdef->getOptimizationObjective()) << std::endl;
std::cout << "Path :" << std::endl;
for(std::deque<State<2>>::iterator it=current_path_raw.begin(),end=current_path_raw.end();it!=end;++it){
std::cout << (*it) << " -- ";
}
std::cout << std::endl;*/
planned=true;
}else{
ROS_INFO("Planning failed");
planned=false;
}
}
void LayoutRect::uniteEvenIfEmpty(const LayoutRect& other) {
LayoutPoint newLocation(std::min(x(), other.x()), std::min(y(), other.y()));
LayoutPoint newMaxPoint(std::max(maxX(), other.maxX()),
std::max(maxY(), other.maxY()));
m_location = newLocation;
m_size = newMaxPoint - newLocation;
}
bool AABB::overlapping(AABB& other) {
if (maxX() < other.minX() ||
minX() > other.maxX() ||
maxY() < other.minY() ||
minY() > other.maxY()) {
return false;
}
return true;
}
bool Boundary::isValid() const
{
bool valid = std::isfinite (minX ()) &&
std::isfinite (maxX ()) &&
std::isfinite (minY ()) &&
std::isfinite (maxY ()) &&
std::isfinite (minZ ()) &&
std::isfinite (maxZ ());
return valid;
}
void IntRect::uniteEvenIfEmpty(const IntRect& other) {
int left = std::min(x(), other.x());
int top = std::min(y(), other.y());
int right = std::max(maxX(), other.maxX());
int bottom = std::max(maxY(), other.maxY());
m_location.setX(left);
m_location.setY(top);
m_size.setWidth(right - left);
m_size.setHeight(bottom - top);
}
// initializes the map (clearing any previous obstacles)
// the heading is required because the specific grid cells that obstacles
// occupy can vary
void FovObstacleMap::initialize(Heading robotHeading)
{
this->robotHeading = robotHeading;
// set all points to unknown
for(int x = minX(); x < maxX(); x++) {
for(int y = minY(); y < maxY(); y++) {
CellData& cellData = map.cell(x, y);
cellData.isKnownObstacle = false;
}
}
}
QPointF SingleCellViewGraphPanelPlotWidget::canvasPoint(const QPoint &pPoint,
const bool pNeedOffset) const
{
// Return the mouse position using canvas coordinates, making sure that they
// are within our ranges
QPointF realPoint = pPoint;
if (pNeedOffset)
realPoint -= plotLayout()->canvasRect().topLeft();
return QPointF(qMin(maxX(), qMax(minX(), canvasMap(QwtPlot::xBottom).invTransform(realPoint.x()))),
qMin(maxY(), qMax(minY(), canvasMap(QwtPlot::yLeft).invTransform(realPoint.y()))));
}
void LayoutRect::intersect(const LayoutRect& other)
{
LayoutPoint newLocation(std::max(x(), other.x()), std::max(y(), other.y()));
LayoutPoint newMaxPoint(std::min(maxX(), other.maxX()), std::min(maxY(), other.maxY()));
// Return a clean empty rectangle for non-intersecting cases.
if (newLocation.x() >= newMaxPoint.x() || newLocation.y() >= newMaxPoint.y()) {
newLocation = LayoutPoint(0, 0);
newMaxPoint = LayoutPoint(0, 0);
}
m_location = newLocation;
m_size = newMaxPoint - newLocation;
}
void DataPlot::displayGraph(const QVector<QPointF>& points)
{
setAxisScale(QwtPlot::yLeft, minAxisScale(), maxY(points));
setAxisScale(QwtPlot::xBottom, minAxisScale(), maxX(points));
Curve->setSamples( points );
Curve->attach(this);
createRegLine(plotDataPoints);
resize( 1200, 800 );
replot();
show();
setFocus();
}
bool LayoutRect::inclusiveIntersect(const LayoutRect& other) {
LayoutPoint newLocation(std::max(x(), other.x()), std::max(y(), other.y()));
LayoutPoint newMaxPoint(std::min(maxX(), other.maxX()),
std::min(maxY(), other.maxY()));
if (newLocation.x() > newMaxPoint.x() || newLocation.y() > newMaxPoint.y()) {
*this = LayoutRect();
return false;
}
m_location = newLocation;
m_size = newMaxPoint - newLocation;
return true;
}
void QStackedBarSeriesPrivate::initializeDomain()
{
qreal minX(domain()->minX());
qreal minY(domain()->minY());
qreal maxX(domain()->maxX());
qreal maxY(domain()->maxY());
qreal x = categoryCount();
minX = qMin(minX, - (qreal)0.5);
minY = qMin(minY, bottom());
maxX = qMax(maxX, x - (qreal)0.5);
maxY = qMax(maxY, top());
domain()->setRange(minX, maxX, minY, maxY);
}
void LayoutRect::uniteIfNonZero(const LayoutRect& other)
{
// Handle empty special cases first.
if (!other.width() && !other.height())
return;
if (!width() && !height()) {
*this = other;
return;
}
LayoutPoint newLocation(std::min(x(), other.x()), std::min(y(), other.y()));
LayoutPoint newMaxPoint(std::max(maxX(), other.maxX()), std::max(maxY(), other.maxY()));
m_location = newLocation;
m_size = newMaxPoint - newLocation;
}
void FloatRect::intersect(const FloatRect& other) {
float left = std::max(x(), other.x());
float top = std::max(y(), other.y());
float right = std::min(maxX(), other.maxX());
float bottom = std::min(maxY(), other.maxY());
// Return a clean empty rectangle for non-intersecting cases.
if (left >= right || top >= bottom) {
left = 0;
top = 0;
right = 0;
bottom = 0;
}
setLocationAndSizeFromEdges(left, top, right, bottom);
}
void LayoutRect::unite(const LayoutRect& other)
{
// Handle empty special cases first.
if (other.isEmpty())
return;
if (isEmpty()) {
*this = other;
return;
}
LayoutPoint newLocation(std::min(x(), other.x()), std::min(y(), other.y()));
LayoutPoint newMaxPoint(std::max(maxX(), other.maxX()), std::max(maxY(), other.maxY()));
m_location = newLocation;
m_size = newMaxPoint - newLocation;
}
void FloatRect::uniteIfNonZero(const FloatRect& other)
{
// Handle empty special cases first.
if (!other.width() && !other.height())
return;
if (!width() && !height()) {
*this = other;
return;
}
float left = min(x(), other.x());
float top = min(y(), other.y());
float right = max(maxX(), other.maxX());
float bottom = max(maxY(), other.maxY());
setLocationAndSizeFromEdges(left, top, right, bottom);
}
void FloatRect::unite(const FloatRect& other)
{
// Handle empty special cases first.
if (other.isEmpty())
return;
if (isEmpty()) {
*this = other;
return;
}
float l = min(x(), other.x());
float t = min(y(), other.y());
float r = max(maxX(), other.maxX());
float b = max(maxY(), other.maxY());
setLocationAndSizeFromEdges(l, t, r, b);
}
void FloatRect::intersect(const FloatRect& other)
{
float l = max(x(), other.x());
float t = max(y(), other.y());
float r = min(maxX(), other.maxX());
float b = min(maxY(), other.maxY());
// Return a clean empty rectangle for non-intersecting cases.
if (l >= r || t >= b) {
l = 0;
t = 0;
r = 0;
b = 0;
}
setLocationAndSizeFromEdges(l, t, r, b);
}
bool SingleCellViewGraphPanelPlotWidget::setAxes(double pMinX, double pMaxX,
double pMinY,double pMaxY,
const bool &pCanReplot)
{
// Keep track of our axes' old values
double oldMinX = minX();
double oldMaxX = maxX();
double oldMinY = minY();
double oldMaxY = maxY();
// Make sure that the given axes' values are fine
checkAxesValues(pMinX, pMaxX, pMinY, pMaxY);
// Update our axes' values, if needed
bool axesValuesChanged = false;
if ((pMinX != oldMinX) || (pMaxX != oldMaxX)) {
setAxis(QwtPlot::xBottom, pMinX, pMaxX);
axesValuesChanged = true;
}
if ((pMinY != oldMinY) || (pMaxY != oldMaxY)) {
setAxis(QwtPlot::yLeft, pMinY, pMaxY);
axesValuesChanged = true;
}
// Update our actions in case the axes' values have changed
if (axesValuesChanged)
updateActions();
// Replot ourselves, if needed and allowed
if (axesValuesChanged && pCanReplot) {
replotNow();
return true;
} else {
return false;
}
}
void Boundary::refer(const Boundary &boundary)
{
if (boundary.minX () < minX ())
setMinX (boundary.minX ());
if (boundary.maxX () > maxX ())
setMaxX (boundary.maxX ());
if (boundary.minY () < minY ())
setMinY (boundary.minY ());
if (boundary.maxY () > maxY ())
setMaxY (boundary.maxY ());
if (boundary.minZ () < minZ ())
setMinZ (boundary.minZ ());
if (boundary.maxZ () > maxZ ())
setMaxZ (boundary.maxZ ());
}
void Boundary::refer(const xjPoint &point)
{
if (point.x () < minX ())
setMinX (point.x ());
if (point.x () > maxX ())
setMaxX (point.x ());
if (point.y () < minY ())
setMinY (point.y ());
if (point.y () > maxY ())
setMaxY (point.y ());
if (point.z () < minZ ())
setMinZ (point.z ());
if (point.z () > maxZ ())
setMaxZ (point.z ());
}
