void Graph::repaintLayers()
{
qreal currentY(0);
for(QList<AbstractNode*> layer : layers) {
qreal currentX(0);
qreal maxHeightThisLayer(0);
for(AbstractNode* vertex : layer) {
// adjust the Y-position
vertex->setY(currentY);
if(maxHeightThisLayer < vertex->boundingRect().height()) {
maxHeightThisLayer = vertex->boundingRect().height();
}
// adjust the X-position
vertex->setX(currentX);
currentX = currentX + vertex->boundingRect().width() + 25;
}
currentY = currentY + maxHeightThisLayer + 25;
}
adjustAllEdges();
}
float SSTimeSeriesView::currentValue()
{
if (!d->m_data) return 0;
int ch0=currentChannel();
if (ch0>=0) {
return d->m_data->value(ch0,(int)currentX());
}
else return 0;
}
arma::mat TogersonMetricLearner::generateX() {
mat X(dim, xsSet.size() - 1);
for(int i = 1; i < xsSet.size(); ++i) {
for(int j = 0; j < dim; ++j) {
vec currentX = xsSet.at(i);
X(j, i - 1) = currentX(j);
}
}
return X;
}
void Straight()
{
adjustAngle();
// Going Up
int i;
int motorSpeed;
for (i = 0; i < 11; i++) {
set_motors(3 * i, 3 * i);
usleep(100000);
}
if(currentDirection() == 0 || currentDirection() == 4) {
idealY += 60;
printf("UP TargetY: %f\n",idealY);
while(fabs(currentY()-idealY) > 1) {
if(fabs(currentY()-idealY) < 10) {
if(currentY() < idealY) {
correctToStraight(2 * fabs(currentY()-idealY));
// set_motors(motorSpeed, motorSpeed);
} else {
correctToStraight(-2 * fabs(currentY()-idealY));
// set_motors(-5 -2 * fabs(currentY()-idealY),-5 -2 * fabs(currentY()-idealY));
}
} else if(currentY() < idealY) {
set_motors(40,40);
} else if(currentY() > idealY) {
set_motors(-40,-40);
}
calcPos();
//printf("X:%f Y:%f\n", currentX(),currentY());
}
set_motors(0,0);
bCoord.y += 1;
}
// Going Down
if(currentDirection() == 2) {
idealY -= 60;
printf("DOWN TargetY: %f\n",idealY);
while(fabs(currentY()-idealY) > 1) {
if(fabs(currentY()-idealY) < 10) {
if(currentY() > idealY) {
correctToStraight(2 * fabs(currentY()-idealY));
// set_motors(5 + 2 * fabs(currentY()-idealY), 5 + 2 * fabs(currentY()-idealY));
} else {
correctToStraight(-2 * fabs(currentY()-idealY));
// set_motors(-5 -2 * fabs(currentY()-idealY),-5 -2 * fabs(currentY()-idealY));
}
} else if(currentY() < idealY) {
set_motors(-40,-40);
} else if(currentY() > idealY) {
set_motors(40,40);
}
calcPos();
//printf("X:%f Y:%f\n", currentX(),currentY());
}
set_motors(0,0);
bCoord.y -= 1;
}
// Going Right
if(currentDirection() == 1) {
idealX += 60;
printf("RIGHT TargetX: %f\n",idealX);
while(fabs(currentX()-idealX) > 1) {
if(fabs(currentX()-idealX) < 10) {
if(currentX() < idealX) {
correctToStraight(2 * fabs(currentX()-idealX));
// set_motors(5 + 2 * fabs(currentX()-idealX),5 + 2 * fabs(currentX()-idealX));
} else {
correctToStraight(-2 * fabs(currentX()-idealX));
// set_motors(-5 -2 * fabs(currentX()-idealX),-5 -2 * fabs(currentX()-idealX));
}
} else if(currentX() < idealX) {
set_motors(40,40);
} else if(currentX() > idealX) {
set_motors(-40,-40);
}
calcPos();
//printf("X:%f Y:%f\n", currentX(),currentY());
}
set_motors(0,0);
bCoord.x += 1;
}
// Going Left
if(currentDirection() == 3) {
idealX -= 60;
printf("LEFT TargetX: %f\n",idealX);
while(fabs(currentX()-idealX) > 1) {
if(fabs(currentX()-idealX) < 10) {
if(currentX() > idealX) {
correctToStraight(2 * fabs(currentX()-idealX));
// set_motors(5 + 2 * fabs(currentX()-idealX),5 + 2 * fabs(currentX()-idealX));
} else {
correctToStraight(-2 * fabs(currentX()-idealX));
// set_motors(-5 -2 * fabs(currentX()-idealX),-5 -2 * fabs(currentX()-idealX));
}
} else if(currentX() < idealX) {
set_motors(-40,-40);
} else if(currentX() > idealX) {
set_motors(40,40);
}
calcPos();
//printf("X:%f Y:%f\n", currentX(),currentY());
}
set_motors(0,0);
bCoord.x -= 1;
}
}
