void adjustByIMUData(sensor_msgs::PointCloud& cloud) {
for(int i = 0; i < cloud.points.size(); ++i) {
geometry_msgs::Point32 curPoint = cloud.points[i];
Eigen::Vector3f curVec(curPoint.x, curPoint.y, curPoint.z);
curVec = set_pitch(imu_pitch) * set_roll(imu_roll) * curVec;
cloud.points[i].x = curVec[0];
cloud.points[i].y = curVec[1];
cloud.points[i].z = curVec[2];
}
}
mat AdultParser::getInstances() {
ifstream infile(this->instancePath);
string line;
vector<vec> instances;
while (getline(infile, line))
{
vector<string> splitLine = split(line, ',');
vec curVec(123);
for(int i=0;i<splitLine.size(); i++){
curVec(i) = stof(splitLine[i]);
}
instances.push_back(curVec);
}
mat X(instances.size(), instances[0].n_rows);
for (int i = 0; i < instances.size(); i++) {
for (int j = 0; j < instances[0].n_rows; j++) {
X(i, j) = instances[i][j];
}
}
return X;
}
void GLWidget::CalculateNarrowPath()
{
for(int b = 0; b < _actualGridSize.height() - 1; b++)
{
for(int a = 0; a < _actualGridSize.width() - 1; a++)
{
AVector curVec(_gridSpacing * a, _gridSpacing * b);
AVector rVec (_gridSpacing * (a + 1), _gridSpacing * b );
AVector dVec (_gridSpacing * a , _gridSpacing * (b + 1));
AVector drVec (_gridSpacing * (a + 1), _gridSpacing * (b + 1));
// horizontal
if(IntersectHorizontalLine(curVec) &&
IntersectHorizontalLine(rVec) &&
IntersectHorizontalLine(dVec) &&
IntersectHorizontalLine(drVec) )
{
_cells[a][b]._straightness = Straightness::ST_HORIZONTAL;
std::cout << "-";
}
// vertical
else if(IntersectVerticalLine(curVec) &&
IntersectVerticalLine(rVec) &&
IntersectVerticalLine(dVec) &&
IntersectVerticalLine(drVec))
{
_cells[a][b]._straightness = Straightness::ST_VERTICAL;
std::cout << "|";
}
else
{
_cells[a][b]._straightness = Straightness::ST_DIAGONAL;
std::cout << ".";
}
}
std::cout << "\n";
}
std::cout << "\n";
std::cout << "\n";
}
/**************************************************************
* * This main function creates a vector of randomly generated integers
* * for use in testing the implementations of Algorithms 1-4. The first part measures
* * the running time in ms for each Algorithm for display. The second part tests
* * input output by reading input from a specified text file, running each Algorithm
* * on this input, and writing the results to another specified text file.
* ***************************************************************/
int main(int argc, char* argv[]){
std::string filename;
std::string outputfilename;
/* The first argument (argc) is the number of elements in the array so we should have two elements the program name and file name
Credit: http://www.site.uottawa.ca/~lucia/courses/2131-05/labs/Lab3/CommandLineArguments.html
*/
if(argc != 2)
{
std::cout << "Please enter an input filename." << std::endl << std::endl;
exit(1);
}
/* which is the second argument (argv). The second argument is always an array of char*, */
else
{
filename = std::string(argv[1]);
std::string tempoutputfilename = std::string(argv[1]);
//http://www.cplusplus.com/reference/string/string/length/
int strsize = tempoutputfilename.length() - 4;
/* http://www.cplusplus.com/reference/string/string/operator+/
http://www.cplusplus.com/reference/string/string/substr/ */
outputfilename = (tempoutputfilename.substr(0, strsize)) + "change.txt";
std::cout << outputfilename << std::endl;
}
//cout << filename << endl;
/* Stream class provided by C++ to read from files
Credit: http://www.cplusplus.com/doc/tutorial/files/*/
/* In order to open a file with a stream object we use its member function open
* http://stackoverflow.com/questions/16552753/no-matching-function-ifstream-open */
std::ifstream textfile(filename);
/* To check if a file stream was successful opening a file, you can do it by calling to member is_open
Credit: http://www.cplusplus.com/doc/tutorial/files/*/
if(!textfile.is_open())
{
std::cout << "The file could not be opened." << std::endl;
textfile.close();
exit(1);
}
/* Call function to put first alternating lines as the coin set input and the second alternating lines as total change V */
std::vector< std::vector<int> > coinsetinput;
std::vector<int> changevalueV;
getinput( textfile, coinsetinput, changevalueV );
textfile.close();
/* Stream class to write on files
Credit: http://www.cplusplus.com/doc/tutorial/files/*/
/*http://stackoverflow.com/questions/16552753/no-matching-function-ifstream-open*/
std::ofstream textfile2(outputfilename);
if(!textfile2.is_open())
{
std::cout << "Cannot open for writing. Check the permissions of the directory." << std::endl;
textfile2.close();
exit(1);
}
/*Display a babel for brute force algorithm time trial
std::cout << "Testing changeslow...." << std::endl;
for( unsigned int i = 0; i < coinsetinput.size(); i++ )
{
// Run brute force algorithm on input numbers from first to last element
std::vector<int> coinCount;
runtimetrial( changeslow, coinsetinput.at(i), changevalueV.at(i), coinCount );
}
// Display a babel for greedy algorithm time trial
std::cout << "Testing changegreedy...." << std::endl;
for( unsigned int i = 0; i < coinsetinput.size(); i++ )
{
// Run greedy algorithm on input numbers from first to last element
std::vector<int> coinCount;
runtimetrial( changegreedy, coinsetinput.at(i), changevalueV.at(i), coinCount);
}
// Display a babel for dynamic programming algorithm time trial
std::cout << "Testing changedp...." << std::endl;
//for( unsigned int i = 0; i < coinsetinput.size(); i++ )
{
Run greedy algorithm on input numbers from first to last element
}*/
/* Call function to output is to be written to text file
textfile2 << "Brute Force \n\n";
// Run changeslow algorithm on input numbers
for( unsigned int i = 0; i < coinsetinput.size(); i++ )
{
std::vector<int> coinCount;
int minCoins = changeslow( coinsetinput.at(i), changevalueV.at(i), coinCount );
writeResults( textfile2, coinCount, minCoins );
}
// Call function to output is to be written to text file
textfile2 << "Greedy\n\n";
for( unsigned int i = 0; i < coinsetinput.size(); i++ )
{
std::vector<int> coinCount;
int minCoins = changegreedy(coinsetinput.at(i), changevalueV.at(i), coinCount);
writeResults( textfile2, coinCount, minCoins );
}
// Call function to output is to be written to text file */
textfile2 << "Dynamic Programming\n\n";
for( unsigned int i = 0; i < coinsetinput.size(); i++ )
{
if(!coinsetinput.at(i).empty()){
printf("\n\n%d Results %d\n", i, i);
struct coinChange result;
std::vector<int> curVec ( coinsetinput.at(i) );
Changedp::dpChange(curVec, changevalueV.at(i), result);
for(unsigned int y = 0; y<coinsetinput.at(i).size(); ++y){
printf("%d\t", coinsetinput.at(i).at(y));
}
printf("\nmin coins = %d\tSumVal = %d\tResult array\n", result.coins, changevalueV.at(i));
for(unsigned int y = 0; y<result.resultVec.size(); ++y){
printf("%d\t", result.resultVec.at(y));
}
writeResults( textfile2, result.resultVec, result.coins );
}
}
textfile2.close();
}
