static void elt_delete (heap_header_t * h, heap_elt_t * e)
{
heap_elt_t * l = vec_end (h->elts) - 1;
ASSERT (e >= h->elts && e <= l);
/* Update doubly linked pointers. */
{
heap_elt_t * p = heap_prev (e);
heap_elt_t * n = heap_next (e);
if (p == e)
{
n->prev = 0;
h->head = n - h->elts;
}
else if (n == e)
{
p->next = 0;
h->tail = p - h->elts;
}
else
{
p->next = n - p;
n->prev = p - n;
}
}
/* Add to index free list or delete from end. */
if (e < l)
vec_add1 (h->free_elts, e - h->elts);
else
_vec_len (h->elts)--;
}
void init_texture_list(GtkTreeView* tree) {
GtkTreeStore* store = GTK_TREE_STORE(gtk_tree_view_get_model(tree));
gtk_tree_store_clear(store);
inspect_tex_vec_t textures = inspector->textures;
for (inspect_texture_t* tex = textures->data; !vec_end(textures, tex); tex++) {
char str[64];
memset(str, 0, 64);
snprintf(str, 64, "%u", tex->fake);
GtkTreeIter row;
gtk_tree_store_append(store, &row, NULL);
gtk_tree_store_set(store, &row, 0, str, -1);
}
}
int main() {
int n = 10, i;
pvec v1;
int* it = NULL;
vec_init(&v1, sizeof(int), NULL );
for(i = 0; i < 20; i++) {
vec_push(v1, &i);
vec_debugi(v1);
}
vec_debugi(v1);
vec_release(v1);
for(it = (int*)vec_begin(v); it != (int*)vec_end(); it++) {
printf("%d ",*it);
}
return 0;
}
void init_syncs_list(GtkTreeView* tree) {
GtkTreeView* content = GTK_TREE_VIEW(gtk_builder_get_object(builder, "sync_treeview"));
GtkTreeStore* store = GTK_TREE_STORE(gtk_tree_view_get_model(content));
gtk_tree_store_clear(store);
store = GTK_TREE_STORE(gtk_tree_view_get_model(tree));
gtk_tree_store_clear(store);
inspect_sync_vec_t syncs = inspector->syncs;
for (inspect_sync_t* sync = syncs->data; !vec_end(syncs, sync); sync++) {
char str[64];
memset(str, 0, 64);
snprintf(str, 64, "0x%zx", sync->fake);
GtkTreeIter row;
gtk_tree_store_append(store, &row, NULL);
gtk_tree_store_set(store, &row, 0, str, -1);
}
}
/* Interrupt handler. Call functions for all expired timers.
Set time for next timer interrupt. */
static void
timer_interrupt (int signum)
{
f64 now = unix_time_now ();
f64 dt;
timer_callback_t *t;
while (1)
{
if (vec_len (timers) <= 0)
return;
/* Consider last (earliest) timer in reverse sorted
vector of pending timers. */
t = vec_end (timers) - 1;
ASSERT (now >= 0 && isfinite (now));
/* Time difference between when timer goes off and now. */
dt = t->time - now;
/* If timer is within threshold of going off
call user's callback. */
if (dt <= time_resolution && isfinite (dt))
{
_vec_len (timers) -= 1;
(*t->func) (t->arg, -dt);
}
else
{
/* Set timer for to go off in future. */
struct itimerval itv;
clib_memset (&itv, 0, sizeof (itv));
f64_to_tv (dt, &itv.it_value);
if (setitimer (ITIMER_REAL, &itv, 0) < 0)
clib_unix_error ("sititmer");
return;
}
}
}
vector<vector<string>> Solution::findLadders(string start, string end, unordered_set<string> &dict)
{
unordered_map<string, vector<vector<string>>> set1, set2, *set_cur, *set_target;
vector<vector<string>> vec_start(1, vector<string>(1, start)), vec_end(1, vector<string>(1, end));
//two-end BFS to effectively prune, BFS strategy will get the smaller set to traverse in each iteration
set1[start] = vec_start;
set2[end] = vec_end;
int K = start.size();
bool isUpdated = true, isFinished = false;
vector<vector<string>> res;
for(int depth = 2; isUpdated && !isFinished; ++depth) {
if(set1.size() > set2.size()) {
set_cur = &set2;
set_target = &set1;
}
else {
set_cur = &set1;
set_target = &set2;
}
unordered_map<string, vector<vector<string>>> inter_set;
isUpdated = false;
unordered_set<string> deleting;
for(auto iteri=set_cur->cbegin(), end = set_cur->cend(); iteri!=end; ++iteri) {
for(int i=0; i<K; ++i) {
string temp = (*iteri).first;
char ch = 'a';
for(int c = 0; c<26; ++c) {
temp[i] = ch + c;
if(set_target->find(temp) != set_target->end()) {
const vector<vector<string>> *new_paths_first = &(*iteri).second;
const vector<vector<string>> *new_paths_second = &(*set_target)[temp];
auto iter_in = set_cur->cbegin();
if(((*iter_in).second)[0][0] != start) {
new_paths_first = &(*set_target)[temp];
new_paths_second = &(*iteri).second;
}
for_each(new_paths_first->cbegin(), new_paths_first->end(), [&] (const vector<string> &first_path) {
for_each(new_paths_second->cbegin(), new_paths_second->cend(), [&] (const vector<string> &second_path) {
vector<string> temp_path = first_path;
for_each(second_path.crbegin(), second_path.crend(), [&](const string &s) {
temp_path.push_back(s);
});
res.push_back(temp_path);
});
});
isFinished = true;
}
else if(dict.find(temp) != dict.end()) {
vector<vector<string>> new_paths = (*iteri).second;
for_each(new_paths.begin(), new_paths.end(), [&] (vector<string> &path) {
path.push_back(temp);
});
if(inter_set.find(temp) == inter_set.end())
inter_set[temp] = new_paths;
else {
for_each(new_paths.begin(), new_paths.end(), [&] (vector<string> &path) {
inter_set[temp].push_back(path);
});
}
deleting.insert(temp);
isUpdated = true;
}
}
}
}
for_each(deleting.begin(), deleting.end(), [&] (const string &s) {
dict.erase(s);
});
*set_cur = inter_set;
}
return res;
}
int main()
{
#ifdef _TEST1
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
//Print loaded data
robot.PrintHomogenTransformationMatrix();
robot.PrintFullTransformationMatrix();
//Rotating joint 1 for 90 degrees
robot.RotateJoint(DHINDEX(1),90.0f);
robot.PrintHomogenTransformationMatrix();
robot.PrintFullTransformationMatrix();
#endif
#ifdef _TEST2
CLine3D line;
Vector3f test2;
Vector3f vec_end(20,1,0);
Vector3f vec_start(1,2,3);
float displ = 0.01f;
test2 = line.GetNextPoint(vec_end,vec_start,displ);
while(true)
{
if (test2 == vec_end)
{
break;
}
std::cout<<test2<<std::endl;
test2 = line.GetNextPoint(vec_end,test2,displ);
}
std::cout<<test2<<std::endl;
#endif
#ifdef _TESTJACIBIANTRANSPOSE
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
CAlgoFactory factory;
VectorXf des(6);
float speccfc = 0.001f;
des << 200.0f ,200.0f ,0.0f ,0.0f ,0.0f ,0.0f ;
CAlgoAbstract * pJpt = factory.GiveMeSolver(JACOBIANTRANSPOSE,des,robot);
pJpt->SetAdditionalParametr(speccfc);
pJpt->CalculateData();
robot.PrintConfiguration();
#endif
#ifdef _TESTJACIBIANPSEUDO
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
CAlgoFactory factory;
VectorXf des(6);
float speccfc = 0.001f;
des << 200.0f , 200.0f , 0.0f , 0.0f , 0.0f , 0.0f ;
CAlgoAbstract * pJpt = factory.GiveMeSolver(JACOBIANPSEVDOINVERSE,des,robot);
pJpt->CalculateData();
robot.PrintConfiguration();
#endif
#ifdef _TESTDLS
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
CAlgoFactory factory;
VectorXf des(6);
float speccfc = 0.001f;
des << 200.0f , 200.0f , 0.0f , 0.0f , 0.0f , 0.0f ;
CAlgoAbstract * pJpt = factory.GiveMeSolver(DUMPEDLEASTSQUARES,des,robot);
pJpt->SetAdditionalParametr(speccfc);
pJpt->CalculateData();
robot.PrintConfiguration();
#endif
return 0;
}
