void do_sh_range(double *ystart, double *yend) { double parlo, parhi, dpar, temp; int npar, i, j, ierr; int side, cycle, icol, color; char bob[50]; if (set_up_sh_range() == 0) return; swap_color(&color, 0); parhi = shoot_range.phigh; parlo = shoot_range.plow; npar = shoot_range.steps; dpar = (parhi - parlo) / (double)npar; side = shoot_range.side; cycle = shoot_range.cycle; storind = 0; icol = 0; if (shoot_range.movie == 1) reset_film(); for (i = 0; i <= npar; i++) { temp = parlo + dpar * (double)i; set_val(shoot_range.item, temp); sprintf(bob, "%s=%.16g", shoot_range.item, temp); x11_status_bar_set_text(main_status_bar, bob); if (shoot_range.movie == 1) clr_scrn(); bvshoot(ystart, yend, BVP_TOL, BVP_EPS, BVP_MAXIT, &ierr, NODE, 0, 0, 0, 0, 0.0); if (ierr == ABORT) continue; if (ierr < 0) { bad_shoot(ierr); set_browser_data(storage, storind, NEQ + 1); swap_color(&color, 1); return; } storage[0][storind] = temp; if (side == 0) for (j = 0; j < NODE; j++) storage[j + 1][storind] = ystart[j]; else for (j = 0; j < NODE; j++) storage[j + 1][storind] = yend[j]; storind++; set_cycle(cycle, &icol); get_ic(0, ystart); last_shot(0); if (shoot_range.movie == 1) film_clip(); ping(); } set_browser_data(storage, storind, NEQ + 1); auto_freeze_it(); swap_color(&color, 1); }
std::vector<mboard> generator::GenerateMidEnd_Black(mboard board) { std::vector<mboard> List; mboard board_swapped; board_swapped=swap_color(board); List =GenerateMovesMidEndgame(board_swapped); std::vector<mboard> List2; List2=swap_color_List(List); return List2; }
std::vector<mboard> generator::GenerateMoveOpening_Black(mboard board) { std::vector<mboard> List; mboard board_swapped; board_swapped=swap_color(board); List=GenerateMovesOpening(board_swapped); std::vector<mboard> List2; List2=swap_color_List(List); return List2; }
//swap color for array std::vector<mboard> swap_color_List(std::vector<mboard> List) { for(int i=0;i<List.size();i++) { mboard temp; temp=swap_color(List.at(i)); //??? List.at(i)=temp; } return List; }
void ARM_manager::fireposeCallback(const geometry_msgs::PoseStamped::ConstPtr & ptr) { swap_color(*ptr); /* geometry_msgs::PoseStamped tmp_pose; tmp_pose.pose.position.x = 0.2; tmp_pose.pose.position.y = 0.0; tmp_pose.pose.position.z = 0.09; tmp_pose.pose.orientation.x = 0.0; tmp_pose.pose.orientation.y = 0.707; tmp_pose.pose.orientation.z = 0.0; tmp_pose.pose.orientation.w = 0.707; compute_RIK(tmp_pose); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = 0.09; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.0; tmp_pose.pose.orientation.y = 0.707; tmp_pose.pose.orientation.z = 0.0; tmp_pose.pose.orientation.w = 0.707; compute_LIK(tmp_pose); joint_publish(2); usleep(2000000); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = -0.09; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.5; tmp_pose.pose.orientation.y = 0.5; tmp_pose.pose.orientation.z = 0.5; tmp_pose.pose.orientation.w = 0.5; compute_RIK(tmp_pose); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = 0.09; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.5; tmp_pose.pose.orientation.y = -0.5; tmp_pose.pose.orientation.z = 0.5; tmp_pose.pose.orientation.w = -0.5; compute_LIK(tmp_pose); joint_publish(2); usleep(2000000); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = -0.07; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.5; tmp_pose.pose.orientation.y = 0.5; tmp_pose.pose.orientation.z = 0.5; tmp_pose.pose.orientation.w = 0.5; compute_RIK(tmp_pose); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = 0.07; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.5; tmp_pose.pose.orientation.y = -0.5; tmp_pose.pose.orientation.z = 0.5; tmp_pose.pose.orientation.w = -0.5; compute_LIK(tmp_pose); joint_publish(2); usleep(2000000); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = -0.09; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.5; tmp_pose.pose.orientation.y = 0.5; tmp_pose.pose.orientation.z = 0.5; tmp_pose.pose.orientation.w = 0.5; compute_RIK(tmp_pose); tmp_pose.pose.position.x = 0.27; tmp_pose.pose.position.y = 0.09; tmp_pose.pose.position.z = 0.25; tmp_pose.pose.orientation.x = 0.5; tmp_pose.pose.orientation.y = -0.5; tmp_pose.pose.orientation.z = 0.5; tmp_pose.pose.orientation.w = -0.5; compute_LIK(tmp_pose); joint_publish(2); usleep(2000000); tmp_pose.pose.position.x = 0.25; tmp_pose.pose.position.y = -0.09; tmp_pose.pose.position.z = 0.22; tmp_pose.pose.orientation.x = 0.0; tmp_pose.pose.orientation.y = 0.707; tmp_pose.pose.orientation.z = 0.0; tmp_pose.pose.orientation.w = 0.707; compute_RIK(tmp_pose); tmp_pose.pose.position.x = 0.21; tmp_pose.pose.position.y = 0.02; tmp_pose.pose.position.z = 0.16; tmp_pose.pose.orientation.x = 0.0; tmp_pose.pose.orientation.y = 0.707; tmp_pose.pose.orientation.z = 0.0; tmp_pose.pose.orientation.w = 0.707; compute_LIK(tmp_pose); joint_publish(2); */ std_msgs::Empty done; done_pub.publish(done); }
mboard generator::getBoard_color_swapped(mboard board) { return swap_color(board); }