ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext(const std::string &config, const std::string &factory_type) const
{
ModelBasedPlanningContextPtr ctx = context_manager_.getPlanningContext(config, factory_type);
if (ctx)
configureContext(ctx);
return ctx;
}
void BenchCairo::runBlitImageF(BenchOutput& output, const BenchParams& params)
{
cairo_t* cr = cairo_create(screenCairo);
configureContext(cr, params);
BenchRandom rPts(app);
Fog::SizeI screenSize(
params.screenSize.w - params.shapeSize,
params.screenSize.h - params.shapeSize);
uint32_t spriteIndex = 0;
uint32_t spritesLength = (uint32_t)sprites.getLength();
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++)
{
Fog::PointF pt(rPts.getPointF(screenSize));
cairo_set_source_surface(cr, spritesCairo[spriteIndex], pt.x, pt.y);
cairo_rectangle(cr,
double(pt.x),
double(pt.y),
double(params.shapeSize),
double(params.shapeSize));
cairo_fill(cr);
if (++spriteIndex >= spritesLength)
spriteIndex = 0;
}
cairo_destroy(cr);
}
void BenchCairo::runFillRectRotate(BenchOutput& output, const BenchParams& params)
{
cairo_t* cr = cairo_create(screenCairo);
configureContext(cr, params);
BenchRandom rRect(app);
BenchRandom rArgb(app);
float cx = (float)params.screenSize.w * 0.5f;
float cy = (float)params.screenSize.h * 0.5f;
float angle = 0.0f;
if (params.source == BENCH_SOURCE_SOLID)
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++, angle += 0.01f)
{
Fog::RectF r(rRect.getRectF(params.screenSize, params.shapeSize, params.shapeSize));
Fog::Argb32 c0(rArgb.getArgb32());
cairo_translate(cr, cx, cy);
cairo_rotate(cr, angle);
cairo_translate(cr, -cx, -cy);
cairo_set_source_rgba(cr, double(c0.r) * sc, double(c0.g) * sc, double(c0.b) * sc, double(c0.a) * sc);
cairo_rectangle(cr, r.x, r.y, r.w, r.h);
cairo_fill(cr);
cairo_identity_matrix(cr);
}
}
else
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++, angle += 0.01f)
{
Fog::RectF r(rRect.getRectF(params.screenSize, params.shapeSize, params.shapeSize));
Fog::Argb32 c0(rArgb.getArgb32());
Fog::Argb32 c1(rArgb.getArgb32());
Fog::Argb32 c2(rArgb.getArgb32());
cairo_translate(cr, cx, cy);
cairo_rotate(cr, angle);
cairo_translate(cr, -cx, -cy);
cairo_pattern_t* pattern = createLinearGradient(r.x, r.y, r.x + r.w, r.y + r.h, c0, c1, c2);
cairo_set_source(cr, pattern);
cairo_rectangle(cr, r.x, r.y, r.w, r.h);
cairo_fill(cr);
cairo_identity_matrix(cr);
cairo_pattern_destroy(pattern);
}
}
cairo_destroy(cr);
}
ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
const planning_interface::MotionPlanRequest &req,
moveit_msgs::MoveItErrorCodes &error_code) const
{
ModelBasedPlanningContextPtr ctx = context_manager_.getPlanningContext(planning_scene, req, error_code);
if (ctx)
configureContext(ctx);
return ctx;
}
void BenchCairo::runCreateDestroy(BenchOutput& output, const BenchParams& params)
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++)
{
cairo_t* cr = cairo_create(screenCairo);
configureContext(cr, params);
cairo_destroy(cr);
}
}
void BenchCairo::runFillRound(BenchOutput& output, const BenchParams& params)
{
cairo_t* cr = cairo_create(screenCairo);
configureContext(cr, params);
BenchRandom rRect(app);
BenchRandom rArgb(app);
BenchRandom rRadius(app);
if (params.source == BENCH_SOURCE_SOLID)
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++)
{
Fog::RectF r(rRect.getRectF(params.screenSize, params.shapeSize, params.shapeSize));
float rad = rRadius.getFloat(4.0f, 40.0f);
Fog::Argb32 c0(rArgb.getArgb32());
cairo_set_source_rgba(cr, double(c0.r) * sc, double(c0.g) * sc, double(c0.b) * sc, double(c0.a) * sc);
addRound(cr, r, rad);
cairo_fill(cr);
}
}
else
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++)
{
Fog::RectF r(rRect.getRectF(params.screenSize, params.shapeSize, params.shapeSize));
float rad = rRadius.getFloat(4.0f, 40.0f);
Fog::Argb32 c0(rArgb.getArgb32());
Fog::Argb32 c1(rArgb.getArgb32());
Fog::Argb32 c2(rArgb.getArgb32());
cairo_pattern_t* pattern = createLinearGradient(r.x, r.y, r.x + r.w, r.y + r.h, c0, c1, c2);
cairo_set_source(cr, pattern);
addRound(cr, r, rad);
cairo_fill(cr);
cairo_pattern_destroy(pattern);
}
}
cairo_destroy(cr);
}
void BenchCairo::runBlitImageRotate(BenchOutput& output, const BenchParams& params)
{
cairo_t* cr = cairo_create(screenCairo);
configureContext(cr, params);
double cx = (double)params.screenSize.w * 0.5;
double cy = (double)params.screenSize.h * 0.5;
float angle = 0.0f;
BenchRandom rPts(app);
Fog::SizeI screenSize(
params.screenSize.w - params.shapeSize,
params.screenSize.h - params.shapeSize);
uint32_t spriteIndex = 0;
uint32_t spritesLength = (uint32_t)sprites.getLength();
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++, angle += 0.01f)
{
Fog::PointI pt(rPts.getPointI(screenSize));
cairo_matrix_t matrix;
cairo_matrix_init_translate(&matrix, cx, cy);
cairo_matrix_rotate(&matrix, angle);
cairo_matrix_translate(&matrix, -cx, -cy);
cairo_set_matrix(cr, &matrix);
cairo_set_source_surface(cr, spritesCairo[spriteIndex], pt.x, pt.y);
cairo_rectangle(cr, pt.x, pt.y, params.shapeSize, params.shapeSize);
cairo_fill(cr);
if (++spriteIndex >= spritesLength)
spriteIndex = 0;
}
cairo_destroy(cr);
}
void BenchCairo::runFillPolygon(BenchOutput& output, const BenchParams& params, uint32_t complexity)
{
cairo_t* cr = cairo_create(screenCairo);
configureContext(cr, params);
BenchRandom rPts(app);
BenchRandom rArgb(app);
Fog::SizeI polyScreen(
params.screenSize.w - params.shapeSize,
params.screenSize.h - params.shapeSize);
float polySize = (int)params.shapeSize;
if (params.source == BENCH_SOURCE_SOLID)
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++)
{
Fog::PointF base(rPts.getPointF(polyScreen));
Fog::Argb32 c0(rArgb.getArgb32());
cairo_set_source_rgba(cr, double(c0.r) * sc, double(c0.g) * sc, double(c0.b) * sc, double(c0.a) * sc);
for (uint32_t j = 0; j < complexity; j++)
{
float x = rPts.getFloat(base.x, base.x + polySize);
float y = rPts.getFloat(base.y, base.y + polySize);
if (j == 0)
cairo_move_to(cr, x, y);
else
cairo_line_to(cr, x, y);
}
cairo_close_path(cr);
cairo_fill(cr);
}
}
else
{
uint32_t i, quantity = params.quantity;
for (i = 0; i < quantity; i++)
{
Fog::PointF base(rPts.getPointF(polyScreen));
Fog::Argb32 c0(rArgb.getArgb32());
Fog::Argb32 c1(rArgb.getArgb32());
Fog::Argb32 c2(rArgb.getArgb32());
cairo_pattern_t* pattern = createLinearGradient(base.x, base.y, base.x + polySize, base.y + polySize, c0, c1, c2);
cairo_set_source(cr, pattern);
for (uint32_t j = 0; j < complexity; j++)
{
float x = rPts.getFloat(base.x, base.x + polySize);
float y = rPts.getFloat(base.y, base.y + polySize);
if (j == 0)
cairo_move_to(cr, x, y);
else
cairo_line_to(cr, x, y);
}
cairo_close_path(cr);
cairo_fill(cr);
cairo_pattern_destroy(pattern);
}
}
cairo_destroy(cr);
}
