SkeletonState::SkeletonState()
{
if(g_mpiRank == 0)
{
// create display group interface
boost::shared_ptr<DisplayGroupJoystick> dgj(new DisplayGroupJoystick(g_displayGroupManager));
displayGroup_ = dgj;
// default mode is focused interaction
focusInteraction_ = true;
// not in control
control_ = false;
// hands inactive
leftHandActive_ = rightHandActive_ = false;
// don't have an active window
activeWindow_ = false;
// start timers
modeChangeTimeOut_.start();
}
}
main(){
int np,n,i;
double *z,*w,*p,sum=0,alpha,beta;
double **d,**dt;
z = dvector(0,NPUPPER-1);
w = dvector(0,NPUPPER-1);
p = dvector(0,NPUPPER-1);
d = dmatrix(0,NPUPPER-1,0,NPUPPER-1);
dt = dmatrix(0,NPUPPER-1,0,NPUPPER-1);
#if GAUSS_INT
/* Gauss Integration */
printf("Begin checking Gauss integration\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwgj(z,w,np,alpha,beta);
fprintf(stdout,"%lf \n",sum);
for(n = 2; n < 2*np-1; ++n){
jacobf(np,z,p,n,alpha,beta);
sum = ddot(np,w,1,p,1);
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d integal was %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Integration\n");
#endif
#if GAUSS_RADAU_INT
/* Gauss Radau Integration */
printf("Begin checking Gauss Radau Integration\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwgrj(z,w,np,alpha,beta);
for(n = 2; n < 2*np-2; ++n){
jacobf(np,z,p,n,alpha,beta);
sum = ddot(np,w,1,p,1);
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d integal was %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Radau Integration\n");
#endif
#if GAUSS_LOBATTO_INT
/* Gauss Lobatto Integration */
printf("Begin checking Gauss Lobatto integration\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwglj(z,w,np,alpha,beta);
for(n = 2; n < 2*np-3; ++n){
jacobf(np,z,p,n,alpha,beta);
sum = ddot(np,w,1,p,1);
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d integal was %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Lobatto Integration\n");
#endif
#if GAUSS_DIFF
printf("Begin checking differentiation through Gauss points\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwgj(z,w,np,alpha,beta);
for(n = 2; n < np-1; ++n){
dgj(d,dt,z,np,alpha,beta);
for(i = 0; i < np; ++i) p[i] = pow(z[i],n);
sum = 0;
for(i = 0; i < np; ++i)
sum += fabs(ddot(np,d[i],1,p,1) - n*pow(z[i],n-1));
sum /= np;
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d difference %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Jacobi differentiation\n");
#endif
#if GAUSS_RADAU_DIFF
printf("Begin checking differentiation through Gauss Radau points\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwgrj(z,w,np,alpha,beta);
for(n = 2; n < np-1; ++n){
dgrj(d,dt,z,np,alpha,beta);
for(i = 0; i < np; ++i) p[i] = pow(z[i],n);
sum = 0;
for(i = 0; i < np; ++i)
sum += fabs(ddot(np,d[i],1,p,1) - n*pow(z[i],n-1));
sum /= np;
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d difference %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Radau differentiation\n");
#endif
#if GAUSS_LOBATTO_DIFF
printf("Begin checking differentiation through Gauss Lobatto points\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwglj(z,w,np,alpha,beta);
for(n = 2; n < np-1; ++n){
dglj(d,dt,z,np,alpha,beta);
for(i = 0; i < np; ++i) p[i] = pow(z[i],n);
sum = 0;
for(i = 0; i < np; ++i)
sum += fabs(ddot(np,d[i],1,p,1) - n*pow(z[i],n-1));
sum /= np;
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d difference %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Lobatto differentiation\n");
#endif
/* check interpolation routines */
#if GAUSS_INTERP
printf("Begin checking Interpolation through Gauss points\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwgj(z,w,np,alpha,beta);
for(n = 2; n < np-1; ++n){
for(i = 0; i < np; ++i) {
w[i] = 2.0*i/(double)(np-1)-1.0;
p[i] = pow(z[i],n);
}
igjm(d,z,w,np,np,alpha,beta);
sum = 0;
for(i = 0; i < np; ++i)
sum += fabs(ddot(np,d[i],1,p,1) - pow(w[i],n));
sum /= np;
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d difference %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Jacobi differentiation\n");
#endif
#if GAUSS_RADAU_INTERP
printf("Begin checking Interpolation through Gauss Radau points\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwgrj(z,w,np,alpha,beta);
for(n = 2; n < np-1; ++n){
for(i = 0; i < np; ++i) {
w[i] = 2.0*i/(double)(np-1)-1.0;
p[i] = pow(z[i],n);
}
igrjm(d,z,w,np,np,alpha,beta);
sum = 0;
for(i = 0; i < np; ++i)
sum += fabs(ddot(np,d[i],1,p,1) - pow(w[i],n));
sum /= np;
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d difference %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Jacobi differentiation\n");
#endif
#if GAUSS_LOBATTO_INTERP
printf("Begin checking Interpolation through Gauss Lobatto points\n");
alpha = -0.5;
while(alpha <= 5.0){
beta = -0.5;
while(beta <= 5.0){
for(np = NPLOWER; np <= NPUPPER; ++np){
zwglj(z,w,np,alpha,beta);
for(n = 2; n < np-1; ++n){
for(i = 0; i < np; ++i) {
w[i] = 2.0*i/(double)(np-1)-1.0;
p[i] = pow(z[i],n);
}
igljm(d,z,w,np,np,alpha,beta);
sum = 0;
for(i = 0; i < np; ++i)
sum += fabs(ddot(np,d[i],1,p,1) - pow(w[i],n));
sum /= np;
if(fabs(sum)>EPS)
printf("alpha = %lf, beta = %lf, np = %d, n = %d difference %lg\n"
,alpha,beta,np,n,sum);
}
}
beta += 0.5;
}
printf("finished checking all beta values for alpha = %lf\n",alpha);
alpha += 0.5;
}
printf("Finished checking Gauss Lobatto differentiation\n");
#endif
free(z); free(w); free(p);
free_dmatrix(d,0,0); free_dmatrix(dt,0,0);
}