TEST(UX, BigRandom){
UX ux(10);
for(int i = 0; i < 1000; i ++){
Individual a(20);
a.randomize();
Individual b(20);
b.randomize();
Crossover::Result res = ux(&a, &b);
ASSERT_TRUE(res.first.valid());
ASSERT_TRUE(res.second.valid());
}
}
void xadicor_(double* u_, double* g_, double& deltah, double& deltat, int& nx, int& ny, int& nz, double* ux_,
double* a3_, double* a2_, double* a1xyz, double*cxyz
){
Mat u(u_, nx,ny,nz), ux(ux_, nx,ny,nz), g(g_, nx,ny,nz), a3(a3_, nx,ny,nz), a2(a2_, nx,ny,nz);
// valarray<double> a1xyz(), cxyz();
double a = 2.0*deltah, b = a*a;
for(int k=2; k<nz; ++k){
for(int i=2; i<ny; ++i){
for(int j=2; j<nx; ++j){
int m = (k-1)*nx*ny + nx*(i-1) + j;
double phix = (u(k,i,j+1) - u(k,i,j-1))/a;
double phiy = (u(k,i+1,j) - u(k,i-1,j))/a;
double phiz = (u(k+1,i,j) - u(k-1,i,j))/a;
double phixy = (u(k,i+1,j+1) - u(k,i+1,j-1) - u(k,i-1,j+1) + u(k,i-1,j-1))/b;
double phixz = (u(k+1,i,j+1) - u(k+1,i,j-1) - u(k-1,i,j+1) + u(k-1,i,j-1))/b;
double phiyz = (u(k+1,i+1,j) - u(k+1,i-1,j) - u(k-1,i+1,j) + u(k-1,i-1,j))/b;
double de = (1 + dot(phix,phiy,phiz));
a3(k,i,j) = g(k,i,j)*(1 + phix*phix + phiy*phiy)*deltat/de;
a2(k,i,j) = g(k,i,j)*(1 + phix*phix + phiz*phiz)*deltat/de;
a1xyz[m] = g(k,i,j)*(1 + phiy*phiy + phiz*phiz)*deltat/de;
cxyz[m] = g(k,i,j)*( 2.0*(phix*phiy*phixy + phix*phiy*phixz + phiy*phiz*phiyz)/de - ux(k,i,j)*sqrt(de))*deltat;
}}}
}
QVector<double> upsconv(const QVector<double>& x,
const QVector<double>& g,
int lx)
{
// Dyadic upsampling
int p = 0;
int rem2 = p - ((p / 2) * 2);
int addLEN = 2 * rem2 - 1;
int lux = 2 * x.size() + addLEN;
QVector<double> ux(lux, 0.0);
QVector<double>::const_iterator iter = x.begin();
for(int index = 0 + rem2; index < ux.size(); index += 2)
ux[index] = *iter++;
// Convolution with recompose filter
QVector<double> y = conv1(ux, g, true);
// Crop boundries
int ly = y.size();
double d = double(ly - lx) / 2.0;
int first = int(floor(d));
int last = ly - int(ceil(d));
QVector<double> z(last - first);
qCopy(y.begin() + first, y.begin() + last, z.begin());
return z;
}
void FindObjectOnPlane::generateAngles(
const cv::Mat& blob_image, const cv::Point2f& test_point,
std::vector<double>& angles,
std::vector<double>& max_x,
std::vector<double>& max_y,
const image_geometry::PinholeCameraModel& model,
const jsk_recognition_utils::Plane::Ptr& plane)
{
angles.clear();
const double angle_step = 3;
std::vector<cv::Point> indices;
for (int j = 0; j < blob_image.rows; j++) {
for (int i = 0; i < blob_image.cols; i++) {
if (blob_image.at<uchar>(j, i) != 0) { // need to check
indices.push_back(cv::Point(i, j));
}
}
}
for (double angle = -180; angle < 180; angle += angle_step) {
Eigen::Vector2f ux(cos(angle/180*M_PI), sin(angle/180*M_PI));
//Eigen::Vector2f uy(sin(angle/180*M_PI), -cos(angle/180*M_PI));
cv::Point2d uy_end = getUyEnd(test_point, cv::Point2d(test_point.x + ux[0], test_point.y + ux[1]),
model,
plane);
Eigen::Vector2f uy(uy_end.x - test_point.x, uy_end.y - test_point.y);
Eigen::Matrix2f A;
A << ux[0], uy[0],
ux[1], uy[1];
bool excluded = false;
double max_alpha = -DBL_MAX;
double max_beta = -DBL_MAX;
for (size_t i = 0; i < indices.size(); i++) {
Eigen::Vector2f p_q = Eigen::Vector2f(indices[i].x, indices[i].y) - Eigen::Vector2f(test_point.x, test_point.y);
Eigen::Vector2f a_b = A.inverse() * p_q;
double alpha = a_b[0];
double beta = a_b[1];
if (alpha < 0 || beta < 0) {
excluded = true;
break;
}
if (alpha > max_alpha) {
max_alpha = alpha;
}
if (beta > max_beta) {
max_beta = beta;
}
}
if (!excluded) {
angles.push_back(angle);
max_x.push_back(max_alpha);
max_y.push_back(max_beta);
}
}
}
void boid()
{
if (cond) {
#ifdef URANIUM_PU36
ux();
#else
ix();
#endif
}
}
Tube& Tube::ctcBwd(const Function& f) {
assert((f.nb_var()==1)&&(f.nb_arg()==1));
IntervalVector lx(1);
IntervalVector ux(1);
for(int i=(*this).size()-1;i>=1;i--){
lx[0]= Interval(_t0+i*_deltaT,_t0+(i+1)*_deltaT);
ux[0]= Interval(_t0+i*_deltaT,_t0+(i+1)*_deltaT);
// Euler formulation TODO replace it by RK4 or VNODES
(*this)[i-1] &= (*this)[i]-Interval(f.eval_vector(lx)[0].lb(),f.eval_vector(ux)[0].ub())*_deltaT;
}
return *this;
}
Tube::Tube(double t0, double tf, double step, const Function& fmin, const Function& fmax) :
IntervalVector((int)round(((tf - t0) / step)), Interval::ALL_REALS),_t0(t0), _tf(tf), _deltaT(step) {
IntervalVector lx(1);
IntervalVector ux(1);
for(int i=0;i<size();i++) {
lx[0]= Interval(t0+i*step,t0+(i+1)*step);// FIXME A corriger pas robuste, idee stocke les temps dans un tableau pour eviter de les recalculer et d'accumuler des erreurs
ux[0]= Interval(t0+i*step,t0+(i+1)*step);
(*this)[i]=Interval(fmin.eval_vector(lx)[0].lb(),fmax.eval_vector(ux)[0].ub());
}
}
void load_fields_on_fft( const Triangulation& T , CH_FFT& fft ) {
int Nb = fft.Nx();
size_t align=fft.alignment();
c_array ux( Nb , Nb , align );
c_array uy( Nb , Nb , align );
for(F_v_it vit=T.vertices_begin();
vit != T.vertices_end();
vit++) {
int nx = vit->nx.val();
int ny = vit->ny.val();
// "right" ordering
int i = ( Nb - 1 ) - ny ;
int j = nx;
// "wrong" ordering
// int i = nx;
// int j = ny;
Vector_2 vv = vit->Uold.val();
//FT val = vit->alpha.val();
ux(i,j) = vv.x();
uy(i,j) = vv.y();
}
fft.set_u( ux , uy );
return;
}
TEST(UX, Crossover){
Individual mom("02134");
Individual dad("41302");
std::vector<int> indices;
indices.push_back(1);
indices.push_back(3);
UX ux(2);
Individual child = ux.cross(indices, &dad, &mom);
ASSERT_EQ(Individual("31204"), child);
ASSERT_EQ(&dad, child.parent(0));
ASSERT_EQ(&mom, child.parent(1));
}
void PenWindow::layout()
{
CEGUI::UDim ux(0,10);
CEGUI::UDim uy(0,0);
CEGUI::UDim uw(0,0);
CEGUI::UDim uh(0,0);
CEGUI::Size size = getPixelSize();
{
CEGUI::UVector2 bsize;
bsize.d_x = CEGUI::UDim(0,BUTTON_SIZE);
bsize.d_y = CEGUI::UDim(0,BUTTON_SIZE);
const int cellsize = (BUTTON_SIZE + SPACE_SIZE);
int nx = (int)(size.d_width - (2*MARGIN_SIZE)) / cellsize;
if (nx < 1) { nx = 1; }
int xi = 0;
int yi = 0;
CEGUI::UDim x(0,0),y(0,0);
for (size_t i=0; i<_button.size(); ++i) {
for (size_t j=0; j<_button[i].size(); ++j) {
x.d_offset = MARGIN_SIZE + (0.5f * SPACE_SIZE) + xi*cellsize;
y.d_offset = MARGIN_SIZE + (0.5f * SPACE_SIZE) + yi*cellsize;
_button[i][j]->setSize(bsize);
_button[i][j]->setPosition(CEGUI::UVector2(x,y));
xi++;
if (xi == nx) {
xi = 0;
yi++;
}
}
yi++;
xi = 0;
}
}
}
int main()
{
X x;
// 1- Check pass by reference mechanism
std::thread t(setX, 1, std::ref(x));
t.join();
std::cout<<"x int value: "<<x.get()<<std::endl;
t = std::thread(setX_ptr, 2, &x);
t.join();
std::cout<<"x int value: "<<x.get()<<std::endl;
t = std::thread(&X::set, &x, 3);
t.join();
std::cout<<"x int value: "<<x.get()<<std::endl;
// 2 - Move only argument type
std::unique_ptr<X> ux(new X);
ux->set(-3);
t = std::thread(setX_move,23,std::move(ux));
assert(!ux);
t.join();
}
double FindObjectOnPlane::drawAngle(
cv::Mat& out_image, const cv::Point2f& test_point, const double angle,
const double max_x, const double max_y,
const image_geometry::PinholeCameraModel& model,
const jsk_recognition_utils::Plane::Ptr& plane,
cv::Scalar color)
{
Eigen::Vector2f ux(cos(angle/180*M_PI), sin(angle/180*M_PI));
cv::Point2d uy_end = getUyEnd(
test_point, cv::Point2d(test_point.x + ux[0], test_point.y + ux[1]),
model, plane);
Eigen::Vector2f uy(uy_end.x - test_point.x, uy_end.y - test_point.y);
//Eigen::Vector2f uy(sin(angle/180*M_PI), -cos(angle/180*M_PI));
Eigen::Vector2f to_point = ux * max_x + Eigen::Vector2f(test_point.x, test_point.y);
Eigen::Vector2f to_point2 = uy * max_y + Eigen::Vector2f(test_point.x, test_point.y);
cv::Point2f to_point_cv(to_point[0], to_point[1]);
cv::Point2f to_point2_cv(to_point2[0], to_point2[1]);
cv::Point2f to_point3_cv = to_point_cv + to_point2_cv - test_point;
cv::line(out_image, test_point, to_point_cv, color, 4);
cv::line(out_image, test_point, to_point2_cv, color, 4);
cv::line(out_image, to_point_cv, to_point3_cv, color, 4);
cv::line(out_image, to_point2_cv, to_point3_cv, color, 4);
return max_x * max_y; // TODO: it's not correct!
}
/// Get right unit vector
Vec3d ur() const { return ux(); }
void MMS(vector<myData> & F_out, vector<myData> & Ftt_out, FDM::baseSolver& sol, const vector<myData>& u,int step,double t, void * args){
double x = 0;
double y = 0;
double z = 0;
int LN_X = sol.X_LayerNumber();
int LN_Y = sol.Y_LayerNumber();
int LN_Z = sol.Z_LayerNumber();
int Nx,Ny,Nz;
int index = 0;
for (int lz = 0; lz < LN_Z; lz++) {
for (int ly = 0; ly < LN_Y; ly++) {
for (int lx = 0; lx < LN_X; lx++) {
index = idx(lx, ly, lz);
Nx = u[index].Nx();
Ny = u[index].Ny();
Nz = u[index].Nz();
myData ux(Nx,Ny,Nz);
myData uy(Nx,Ny,Nz);
myData uz(Nx,Ny,Nz);
myData Bux(Nx,Ny,Nz);
myData Buy(Nx,Ny,Nz);
myData Buz(Nx,Ny,Nz);
for (int k = 0; k < Nz; k++) {
z = sol.Z(k,lz);
for (int j = 0; j < Ny; j++) {
y = sol.Y(j,ly);
for (int i = 0; i < Nx; i++) {
x = sol.X(i,lx);
F_out[index](i,j,k) = 8*M_PI*M_PI*cos(2*M_PI*t)*cos(2*M_PI*x)*cos(2*M_PI*y)*cos(2*M_PI*z);
Ftt_out[index](i,j,k) = -4*M_PI*M_PI*F_out[index](i,j,k);
ux(i,j,k) = -2*M_PI*cos(2*M_PI*t)*sin(2*M_PI*x)*cos(2*M_PI*y)*cos(2*M_PI*z);//ux boundary
uy(i,j,k) = -2*M_PI*cos(2*M_PI*t)*cos(2*M_PI*x)*sin(2*M_PI*y)*cos(2*M_PI*z);//uy
uz(i,j,k) = -2*M_PI*cos(2*M_PI*t)*cos(2*M_PI*x)*cos(2*M_PI*y)*sin(2*M_PI*z);//uz
}
}
}
//Bux setup
if (lx == 0) {
for (int k = 0; k < Nz; k++) {
for (int j = 0; j < Ny; j++) {
Bux(0,j,k) = -1;
}
}
}
if (lx == LN_X - 1) {
for (int k = 0; k < Nz; k++) {
for (int j = 0; j < Ny; j++) {
Bux(Nx - 1,j,k) = 1;
}
}
}
//
///Buy setup
if (ly == 0) {
for (int k = 0; k < Nz; k++) {
for (int i = 0; i < Nx; i++) {
Buy(i,0,k) = -1;
}
}
}
if (ly == LN_Y - 1) {
for (int k = 0; k < Nz; k++) {
for (int i = 0; i < Nx; i++) {
Buy(i,Ny - 1,k) = 1;
}
}
}
//
//Buz setup
if (lz == 0) {
for (int j = 0; j < Ny; j++) {
for (int i = 0; i < Nx; i++) {
Buz(i,j,0) = -1;
}
}
}
if (lz == LN_Z - 1) {
for (int j = 0; j < Ny; j++) {
for (int i = 0; i < Nx; i++) {
Buz(i,j,Nz - 1) = 1;
}
}
}
//
F_out[index] += sol.H_INV()*(Bux*ux + Buy*uy + Buz*uz);
}
}
}
}