int main() {
double buffer[255];
double fit;
double *rbuffer;
int i;
wb_robot_init();
reset();
receiver_enable(rec,32);
differential_wheels_enable_encoders(64);
robot_step(64);
while (1) {
// Wait for data
while (receiver_get_queue_length(rec) == 0) {
robot_step(64);
}
rbuffer = (double *)wb_receiver_get_data(rec);
// Check for pre-programmed avoidance behavior
if (rbuffer[DATASIZE] == -1.0) {
fitfunc(gwaypoints,100);
// Otherwise, run provided controller
} else {
fit = fitfunc(rbuffer,rbuffer[DATASIZE]);
buffer[0] = fit;
wb_emitter_send(emitter,(void *)buffer,sizeof(double));
}
wb_receiver_next_packet(rec);
}
return 0;
}
double ChiSquare (double alpha, double beta, double gamma, double norm)
{
double chisq = 0.;
double num, y;
double thBinCenter, phiBinCenter;
for (int th = 0; th < nThetaBin; th++)
for (int phi = 0; phi < nPhiBin; phi++)
{
thBinCenter = ThBinWidth/2. -1. + th*ThBinWidth;
phiBinCenter = PhiBinWidth/2. + phi*PhiBinWidth;
y = IstoData [th][phi];
num = y - fitfunc(thBinCenter, phiBinCenter, alpha, beta, gamma, norm);
// ignoro i bin vuoti
if (y > 0)
{chisq = chisq + num*num/y;}
}
return chisq;
}
//double e[5]={.0};
void fit78Ni(int e570, int e1100, int e1600, int e2100, int e2700, int e2900, int append, char* addname){
int e[6] = {e570, e1100, e1600, e2100, e2700, e2900} ;
int g[6] = {1,1,1,1,1,1}; // option which gamma ray to be used
fitfunc(e, g, append, addname);
}
