void supizq(abin *A){
abin aux;
aux=izq(*A);
if(!esVacio(aux)){
supizq(&aux);
supder(&aux);
(*A)->izq=NULL;
free(aux);
}
}
bool search(int matriz[3][3],int profundidad,float tasa){
int vec[2];
float tasap;
int aux[3][3];
//printf("%s%d\n","contador:",cont );
imprimir(matriz);
buscarCero(matriz,vec);
push(matriz);
profundidad++;
if(sonIguales(matriz,destino)==9){
return true;
}
tasap=calculaTasa(matriz);
printf("tasa padre%f\n",tasa);
printf("tasa actual:%f\n",tasap);
if(tasap<tasa){
pop();
return false;
}
//copiar(matriz,aux);
//imprimir(aux);
if(profundidad<stck){
if(vec[1]>0){
//imprimir(matriz);
////printf("\n");
copiar(matriz,aux);
buscarCero(aux,vec);
//imprimir(aux);
//printf("%d %d\n",vec[0],vec[1]);
izq(vec[0],vec[1],aux);
//printf("%s\n","auxi izq");
//imprimir(aux);
//printf("****\n");
if(search(aux,profundidad,tasap)==true)return true;
else imprimir(matriz);
}
if(vec[1]<2){
//imprimir(matriz);
//printf("\n");
copiar(matriz,aux);
buscarCero(aux,vec);
//imprimir(aux);
//printf("%d %d\n",vec[0],vec[1]);
der(vec[0],vec[1],aux);
//printf("%s\n","auxi der");
//imprim//ir(aux);
//printf("****\n");
if(search(aux,profundidad,tasap)==true)return true;
else imprimir(matriz);
}
if(vec[0]>0){
//imprimir(matriz);
//printf("\n");
copiar(matriz,aux);
buscarCero(aux,vec);
//imprimir(aux);
//printf("%d %d\n",vec[0],vec[1]);
arriba(vec[0],vec[1],aux);
//printf("%s\n","auxi arriba");
//imprimir(aux);
//printf("****\n");
if(search(aux,profundidad,tasap)==true)return true;
else imprimir(matriz);
}
if(vec[0]<2){
//imprimir(matriz);
//printf("\n");
copiar(matriz,aux);
buscarCero(aux,vec);
//imprimir(aux);
//printf("%d %d\n",vec[0],vec[1]);
abajo(vec[0],vec[1],aux);
//printf("%s\n","auxi abajo");
//imprimir(aux);
//printf("****\n");
if(search(aux,profundidad,tasap)==true)return true;
else imprimir(matriz);
}
}
//printf("false:\n");
//imprimir(matriz);
//printf("falseend\n");
pop();
return false;
}
void VectorFrames:: Decide(int i,double marca,Mat velocara,Almacena cara,int profilesL, int profilesR, Mat pintar){
if(i==0){frames[i].setlanzado(1);}
enum options {N,UP,R,D,L,U} alg1,alg2,decision;
alg1=U;
alg2=U;
int contquietohor=0;
int contnoquietohor=0;
int contquietover=0;
int contnoquietover=0;
int contador=0;
int aux=i;
double time;
time=frames[i].getTime();
for(size_t w = 0; w < (cara.get_faces()).size(); w++){
if(i>20){
while(marca-time <1000){
aux--;
time=frames[aux].getTime();
contador++;
if(abs(frames[i].getposcenter_x() - frames[aux].getposcenter_x()) < 0.08*cara.get_faces()[w].width){contquietohor++;}
else{contnoquietohor++;}
if(abs(frames[i].getposcenter_y() - frames[aux].getposcenter_y()) < 0.06*cara.get_faces()[w].height){contquietover++;}
else{contnoquietover++;}
}
if(contquietohor>contnoquietohor && contquietohor> 0.8 *contador){frames[i].setmy_decisionhor(0);}
else{frames[i].setmy_decisionhor(1);}
if(contquietover>contnoquietover && contquietover> 0.8 *contador){frames[i].setmy_decisionver(0);}
else{frames[i].setmy_decisionver(1);}
line(velocara,Point(0,120),Point(320,120),Scalar(255,255,255),1,8,0);
line(velocara,Point(160,0),Point(160,240),Scalar(255,255,255),1,8,0);
if(frames[i].getmy_decisionhor()==0){line(velocara,Point(160,120),Point(160+40,120),Scalar(0,0,255),2,8,0);}//quiero rojo
if(frames[i].getmy_decisionhor()==1){line(velocara,Point(160,120),Point(160+40,120),Scalar(255,0,0),2,8,0);}//movimiento azul
if(frames[i].getmy_decisionver()==0){line(velocara,Point(160,120),Point(160,120-40),Scalar(0,0,255),2,8,0);}//quiero rojo
if(frames[i].getmy_decisionver()==1){line(velocara,Point(160,120),Point(160,120-40),Scalar(255,0,0),2,8,0);}//movimiento azul
aux=i;
if(frames[i].getmy_decisionhor()==0){
int comp;
bool evento=false;
aux--;
int contposi=0;
int contnega=0;
int contprofilesL = 0;
int contprofilesR = 0;
int contadoraux = 0;
while(frames[aux].getmy_decisionhor()!=0 && aux>=0){
if(frames[aux].getposcenter_x() > frames[i].getposcenter_x()){contposi++;}
if(frames[aux].getposcenter_x() < frames[i].getposcenter_x()){contnega++;}
comp=abs(frames[i].getposcenter_x() - frames[aux].getposcenter_x());
if(comp>0.18*cara.get_faces()[w].width){evento=true;}
if (frames[aux].getprofileR() == 1) {
contprofilesR++;
}
if (frames[aux].getprofileL() == 1) {
contprofilesL++;
}
aux--;
contadoraux++;
}
if(aux!=i-1){
if(abs(frames[i].getposcenter_x() - frames[aux].getposcenter_x()) < 0.10*cara.get_faces()[w].width){
if(evento==true){
frames[i].setalgdecision(1);
if(contposi>contnega){alg1=R;}
if(contnega>contposi){alg1=L;}
}
}
if (abs(
frames[i].getposcenter_x()
- frames[aux].getposcenter_x())
> 0.18 * cara.get_faces()[w].width) {
int der=0;
int izq=0;
int aux2=i;
for(int b=0;b<3;b++){
if(frames[aux2].getfacestate()==2){izq++;}
if(frames[aux2].getfacestate()==3){der++;}
aux2--;
}
if(izq>=2 || (profilesL == 1
&& contprofilesL > 0.7 * contadoraux)){
frames[i].setalgdecision(2);
alg1 = L;
}
if(der>=2|| (profilesR == 1
&& contprofilesR > 0.7 * contadoraux) ){
frames[i].setalgdecision(2);
alg1 = R;
}
}
}
else {
while (frames[aux].getlanzado() != 1) {
if (frames[aux].getmy_decisionhor() == 1) {
break;
}
aux--;
}
if (frames[aux].getalgdecision() == 2) {
if (marca - frames[aux].getTime() > 1000) {
frames[i].setalgdecision(2);
switch (frames[aux].getalg1()) {
case 2:
alg1 = R;
break;
case 4:
alg1 = L;
break;
}
}
}
}
}
aux=i;
if(frames[i].getmy_decisionver()==0){
aux--;
int comp2;
bool evento2=false;
int contposi=0;
int contnega=0;
while(frames[aux].getmy_decisionver()!=0 && aux>=0){
if(frames[aux].getposcenter_y() > frames[i].getposcenter_y()){contposi++;}
if(frames[aux].getposcenter_y() < frames[i].getposcenter_y()){contnega++;}
comp2=abs(frames[i].getposcenter_y() - frames[aux].getposcenter_y());
if(comp2>0.18*cara.get_faces()[w].height){evento2=true;}
aux--;
}
if(aux!=i-1){
if(abs(frames[i].getposcenter_y() - frames[aux].getposcenter_y()) < 0.15*cara.get_faces()[w].height){
if(evento2==true){
if(contposi>contnega){alg2=D;}
if(contnega>contposi){alg2=UP;}
}
}
}
}
Point izq(0,120);
Point der(230,120);
Point arr(120,10);
Point aba(120,240);
if ((alg1==L) && (alg2==U)){frames[i].setalg1(L);decision=L;cout<<"izquierda"<<endl;putText(pintar,"IZQUIERDA",izq,FONT_HERSHEY_COMPLEX_SMALL,0.80,(255,255,0),1,8);}
if ((alg1==R) && (alg2==U)){frames[i].setalg1(R);decision=R;cout<<"derecha"<<endl;putText(pintar,"DERECHA",der,FONT_HERSHEY_COMPLEX_SMALL,0.80,(255,255,0),1,8);}
if ((alg1==U) && (alg2==UP)){decision=UP;cout<<"arriba"<<endl;putText(pintar,"ARRIBA",arr,FONT_HERSHEY_COMPLEX_SMALL,0.80,(255,255,0),1,8);}
if ((alg1==U) && (alg2==D)){decision=D;cout<<"abajo"<<endl;putText(pintar,"ABAJO",aba,FONT_HERSHEY_COMPLEX_SMALL,0.80,(255,255,0),1,8);}
if(decision==L || decision==R || decision==UP || decision==D){
frames[i].setlanzado(1);
aux = i;
while ((frames[aux].getlanzado()) != 1) {
frames.erase(frames.begin(), frames.begin() + aux);
aux--;
}
}
}
}
}
