JNIEXPORT jobject JNICALL Java_nl_ru_ai_projects_parrot_dronecontrol_groundstation_GroundStation_getFrontCameraImage0(JNIEnv* env, jobject obj) {
lock_guard<recursive_mutex> dcoLock(droneControlObjectMutex);
int imageSize = droneControlObject->getImageWidth() * droneControlObject->getImageHeight() * 3;
if (imageSize == 0) {
return NULL;
}
if (imageSize != allocatedFrontImageBufferData) {
if (frontImageBufferData != NULL) {
env->DeleteGlobalRef(frontImageBufferData);
frontImageBufferData = NULL;
}
allocatedFrontImageBufferData = imageSize;
if (imageSize > 0) {
droneFrontImageData = shared_array<char>(new char[allocatedFrontImageBufferData]);
frontImageBufferData = env->NewDirectByteBuffer(droneFrontImageData.get(), allocatedFrontImageBufferData);
if (frontImageBufferData == NULL) {
return NULL;
}
}
}
char* imageData = droneControlObject->getImageData();
memcpy(droneFrontImageData.get(), imageData, imageSize);
return frontImageBufferData;
}
BlasiusFixture()
: code_Ma(1.5)
, blasius_u(suzerain_blasius_u(Re_x))
, blasius_v(suzerain_blasius_v(Re_x))
, accel(gsl_interp_accel_alloc())
, b(k,
bspline::from_breakpoints(),
suzerain_blasius_extended_size,
blasius_u->x + /*UGLY HACK uses Nnegative from blasius.c */10)
, op(b, 0, SUZERAIN_BSPLINEOP_COLLOCATION_GREVILLE)
, lu(op)
, u (new double[b.n()])
, v (new double[b.n()])
, ke(new double[b.n()])
, H0(new double[b.n()])
{
lu.factor_mass(op);
// Prepare Blasius profile information as coefficients
for (int i = 0; i < b.n(); ++i) {
u[i] = gsl_spline_eval(blasius_u, b.collocation_point(i), accel);
v[i] = gsl_spline_eval(blasius_v, b.collocation_point(i), accel);
ke[i] = (u[i]*u[i] + v[i]*v[i]) / 2;
H0[i] = u[i] + code_Ma*code_Ma*ke[i]; // h = u => delta2 = deltaH0
}
BOOST_REQUIRE_EQUAL(SUZERAIN_SUCCESS, lu.solve(1, u .get(), 1, b.n()));
BOOST_REQUIRE_EQUAL(SUZERAIN_SUCCESS, lu.solve(1, v .get(), 1, b.n()));
BOOST_REQUIRE_EQUAL(SUZERAIN_SUCCESS, lu.solve(1, ke.get(), 1, b.n()));
BOOST_REQUIRE_EQUAL(SUZERAIN_SUCCESS, lu.solve(1, H0.get(), 1, b.n()));
}
void NaoActionControl::GeneralActionCommand()
{
stringstream ss;
const shared_array<Robot::Link> link = NAO->GetLink();
if (link.get() != 0)
{
for (int i = NAO->GetJointMin(); i <= NAO->GetJointMax(); ++i)
{
if (i == Robot::JID_ROOT) continue;
/** NOTE if the link is the top one or not been set
* up correctly, its joint velocity will not be sent */
// if (link[i].mother == 0) continue;
int twin = link[i].twin;
if (twin == 0) // hinge joint effector
{
ss << "(" << link[i].eff_name;
ss << " " << Precision(mJointVel[i]) << ")";
}
else // universal joint effector
{
int child = link[i].child;
if (twin == child) // first twin
{
ss << "(" << link[i].eff_name;
ss << " " << Precision(mJointVel[i]);
ss << " " << Precision(mJointVel[twin]) << ")";
}
}
}
}
mActionCommand = ss.str();
aLOG << mActionCommand << endl;
aLOG << "****************************************the end of send message****************************************" << endl;
}
void QuickTimeSampleApp::loadMovieResource()
{
try {
loadResourceMemory( "Upgrade_U_small.mov", RES_UPGADE_U_MOV, "MOV", &data, &dataSize );
mMovie = qtime::MovieGL( data.get(), dataSize, "Upgrade_U_small.mov", "video/quicktime" );
std::cout << "Dimensions:" << mMovie.getWidth() << " x " << mMovie.getHeight() << std::endl;
std::cout << "Duration: " << mMovie.getDuration() << " seconds" << std::endl;
std::cout << "Frames: " << mMovie.getNumFrames() << std::endl;
std::cout << "Framerate: " << mMovie.getFramerate() << std::endl;
mMovie.setLoop( true, true );
#ifdef USE_DISPLAY_LINK
mMovie.enableDisplayLink( getDisplayLink() );
#endif
mMovie.setNewFrameCallback( newFrameCallback, &mMovie );
mMovie.play();
}
catch( ... ) {
std::cout << "Unable to load the movie." << std::endl;
mMovie.reset();
}
mTexture.reset();
}
/**
* save tga images
* @param name - file name to which data should be saved
* @param data - smart array containing data to be stored (must be 32Bit per Pixel)
* @param width,height - size of the image data
* @return 0 if no error occurs
*/
int nrCTextureLoader::save_tga(const string& name,const shared_array<byte>& data,int width,int height) {
char nname[1024];
sprintf(nname, "%s%s", nrVFS.getPathToFileSystem(), name.c_str());
FILE *file = fopen(nname,"wb");
if(!file) {
nrLog.Log(NR_LOG_ENGINE, "nrCTextureLoader::save_tga(): error create '%s' file",name.c_str());
return 0;
}
shared_array<byte> buf(new byte[18 + width * height * 4]);
memset(buf.get(),0,18);
buf[2] = 2;
buf[12] = width % 256;
buf[13] = width / 256;
buf[14] = height % 256;
buf[15] = height / 256;
buf[16] = 32;
buf[17] = 0x28;
memcpy(buf.get() + 18,data.get(),width * height * 4);
// rgba->bgra
for(int i = 18; i < 18 + width * height * 4; i += 4) {
byte c = buf[i];
buf[i] = buf[i + 2];
buf[i + 2] = c;
}
fwrite(buf.get(),1,18 + width * height * 4,file);
fclose(file);
return 1;
}
void NaoActionControl::Update()
{
const shared_array<Robot::Link> link = NAO->GetLink();
if (link.get() != 0)
{
for (int i = NAO->GetJointMin(); i <= NAO->GetJointMax(); ++i)
{
//cerr << "ActionControl::Update----" << "i:" << i << endl;
if (i == Robot::JID_ROOT) continue;
/** NOTE if the link is the top one or not been
* set up correctly, it will not be updated */
// if (link[i].mother == 0) continue;
mJointAngle[i] = link[i].q;
}
}
for (int i = NAO->GetJointMin(); i <= NAO->GetJointMax(); ++i)
{
mJointVel[i] = 0.0f;
}
}
explicit two_bit_color_map(std::size_t n, const IndexMap& index = IndexMap())
: n(n), index(index), data(new unsigned char[(n + 3) / 4])
{
// Fill to white
std::fill(data.get(), data.get() + (n + 3) / 4, 0);
}
void print(shared_array<char> text)
{
std::cout << text.get() << std::endl;
}
template<class T> inline bool operator<(shared_array<T> const & a, shared_array<T> const & b) // never throws
{
return std::less<T*>()(a.get(), b.get());
}
template<class T> inline bool operator!=(shared_array<T> const & a, shared_array<T> const & b) // never throws
{
return a.get() != b.get();
}
template<class T, class U> inline bool operator!=(shared_array<T> const & a, shared_array<U> const & b)
{
return a.get() != b.get();
}