bool interval::subset_of(const interval& x) const {
ASSERT2(lb <= ub, *this);
ASSERT2(x.lb <= x.ub, x);
return lb >= x.lb && ub <= x.ub;
}
const interval log(const interval& x) {
ASSERT2(x.lb <= x.ub, "x: "<<x);
ASSERT2(0<x.lb, "x.lb = "<<x.lb);
return interval(std::log(x.lb), std::log(x.ub));
}
int test2(int seed) {
struct gameState *G = newGame();
//struct gameState *Gcpy = newGame();
int i;
int numPlayers;
int ret;
int *k = getUniqueCards();
printf("TEST #2: Number of players random testing\n");
printf("\t should return 0 if 2 - 4; -1 otherwise\n");
//random testing for number of players
for(i = 0; i < NUMTRIALS; i++) {
numPlayers = rand();
ret = initializeGame(numPlayers, k, seed, G);
if((numPlayers == 1) || (numPlayers == 2) || (numPlayers == 3) || (numPlayers == 4))
{
ASSERT2(ret, 0, "FAIL");
}
else
{
ASSERT2(ret, -1, "FAIL");
}
}
printf("PASS\n");
printf("----------------------\n");
free(G);
free(k);
}
bool interval::intersect(const double l, const double u) {
ASSERT2(l <= u, "l: "<<l<<", u: "<<u);
ASSERT2(lb <= ub, *this);
if (is_narrow()) {
// TODO Maybe the intersection could be computed but not written back? (May detect infeas?)
return false;
}
bool improved = false;
if (l > add_tol(lb, IMPROVEMENT_TOL)) {
lb = l;
improved = true;
}
if (u < sub_tol(ub, IMPROVEMENT_TOL)) {
ub = u;
improved = true;
}
if (lb > ub) {
throw infeasible_problem();
}
return improved;
}
int test1(int seed)
{
int i, j;
int *k = (int*)malloc(sizeof(int)*NUMCARDS);
int numPlayers = (rand()% 3) + 2;
int ret = -1;
struct gameState *G = newGame();
// struct gameState *Gcpy = newGame();
//repeat until you get return val 0 in initializeGame, i.e. all kingdom cards are unique
printf("TEST #1: Kingdom cards random testing\n");
printf("\t should return 0 if unique; -1 if non-unique\n");
for(i = 0; i < NUMTRIALS; i++)
{
for(j = 0; j < NUMCARDS; j++) {
k[j] = (rand()%15);
}
ret = initializeGame(numPlayers, k, seed, G);
int cret = cardsAreUnique(k);
if(cret == 0) {
ASSERT2(ret, 0, "FAIL when cards are unique");
}
else {
ASSERT2(ret, -1, "FAIL when cards are non-unique");
}
}
printf("PASS\n");
printf("------------------\n");
free(G);
free(k);
}
bool interval::true_subset_of(const interval& x) const {
ASSERT2(lb <= ub, *this);
ASSERT2(x.lb <= x.ub, x);
return lb >= x.lb && ub <= x.ub && (lb!=x.lb || ub !=x.ub);
}
interval& interval::operator+=(const interval& x) {
ASSERT2(lb <= ub, *this);
ASSERT2(x.lb <= x.ub, "x: "<<x);
lb += x.lb;
ub += x.ub;
return *this;
}
void perform_transfer(urb_t *urb) {
int direction = urb->direction == IN ? LIBUSB_ENDPOINT_IN : LIBUSB_ENDPOINT_OUT;
/* Take a care about timings */
if(urb->timing) {
int time = urb->timing*pow(10,6);
usleep(time);
}
/* Trigger libusb to perform the transfer */
int r, bytes_transferred = 0;
struct libusb_transfer transfer;
switch(urb->type) {
case CTRL:
r = libusb_control_transfer(dev_handle,
urb->bmRequestType | direction,
urb->bRequest,
urb->wValue,
urb->wIndex,
urb->data,
urb->data_size,
0);
ASSERT2(r >= 0, TRANSFER_FAILED_MESSAGE, libusb_error_name(r));
break;
case BULK:
r = libusb_bulk_transfer(dev_handle,
urb->endpoint | direction,
urb->data,
urb->data_size,
&bytes_transferred,
0);
ASSERT2(r == 0, TRANSFER_FAILED_MESSAGE, libusb_error_name(r));
break;
case INTR:
r = libusb_interrupt_transfer(dev_handle,
urb->endpoint | direction,
urb->data,
urb->data_size,
&bytes_transferred,
0);
ASSERT2(r == 0, TRANSFER_FAILED_MESSAGE, libusb_error_name(r));
break;
case ISOC:
libusb_fill_iso_transfer(&transfer,
dev_handle,
urb->endpoint | direction,
urb->data,
urb->data_size,
1,
continue_transfer_cb,
NULL,
0);
libusb_submit_transfer(&transfer);
ASSERT2(r == 0, TRANSFER_FAILED_MESSAGE, libusb_error_name(r));
break;
}
}
void index_set::collect_type2_common_subexpressions() {
ASSERT2(current.empty(),"recording not finished or not run");
ASSERT2(type2_cse.empty(),"this function has already been called");
for (int i=0; i<number_of_constraints(); ++i) {
check_for_common_subexpressions(i);
}
}
const interval operator/(const interval& x, const interval& y) {
ASSERT2(x.lb<=x.ub && y.lb<=y.ub, "x: "<<x<<", y: "<<y);
ASSERT2(!y.contains(0), "y: "<<y);
double z[] = { x.lb/y.lb, x.lb/y.ub, x.ub/y.lb, x.ub/y.ub };
double zL = *std::min_element(z, z+4);
double zU = *std::max_element(z, z+4);
return interval(zL, zU);
}
static const char *skip_to_params(const char *input, const struct CmdTemplate *cmdp)
{
const char *begin = input, *end = input;
// Skip the ID, and get the command
if (!get_word(&begin, &end))
return NULL;
if (!get_word(&begin, &end))
return NULL;
ASSERT2(strlen(cmdp->name) == (size_t)(end-begin), "Invalid command template specified");
ASSERT2(!strncmp(begin, cmdp->name, end-begin), "Invalid command template specified");
return end;
}
void csv_init(simulation_result *self, DATA *data)
{
int i;
const MODEL_DATA *mData = &(data->modelData);
const char* format = "\"%s\",";
FILE *fout = fopen(self->filename, "w");
ASSERT2(fout, "Error, couldn't create output file: [%s] because of %s", self->filename, strerror(errno));
fprintf(fout, format, "time");
if(self->cpuTime)
fprintf(fout, format, "$cpuTime");
for(i = 0; i < mData->nVariablesReal; i++) if(!mData->realVarsData[i].filterOutput)
fprintf(fout, format, mData->realVarsData[i].info.name);
for(i = 0; i < mData->nVariablesInteger; i++) if(!mData->integerVarsData[i].filterOutput)
fprintf(fout, format, mData->integerVarsData[i].info.name);
for(i = 0; i < mData->nVariablesBoolean; i++) if(!mData->booleanVarsData[i].filterOutput)
fprintf(fout, format, mData->booleanVarsData[i].info.name);
for(i = 0; i < mData->nVariablesString; i++) if(!mData->stringVarsData[i].filterOutput)
fprintf(fout, format, mData->stringVarsData[i].info.name);
for(i = 0; i < mData->nAliasReal; i++) if(!mData->realAlias[i].filterOutput)
fprintf(fout, format, mData->realAlias[i].info.name);
for(i = 0; i < mData->nAliasInteger; i++) if(!mData->integerAlias[i].filterOutput)
fprintf(fout, format, mData->integerAlias[i].info.name);
for(i = 0; i < mData->nAliasBoolean; i++) if(!mData->booleanAlias[i].filterOutput)
fprintf(fout, format, mData->booleanAlias[i].info.name);
for(i = 0; i < mData->nAliasString; i++) if(!mData->stringAlias[i].filterOutput)
fprintf(fout, format, mData->stringAlias[i].info.name);
fprintf(fout,"\n");
self->storage = fout;
}
double port_impl::col_val(int i) const {
ASSERT(i<=M); // X.size() == N
double val = X.at(i-1);
const double lb = col_lb(i);
const double ub = col_ub(i);
ASSERT2(lb<ub,"lb, ub: "<<lb<<", "<<ub);
if ((val+1.0e-4 < lb) || (val > ub+1.0e-4)) {
ASSERT(false);
//throw numerical_problems();
}
if (val < lb) {
val = lb;
}
else if (val > ub) {
val = ub;
}
return val;
}
void FreeGaussMixModel(GaussMixModel *p_gmmParam,int p_nModelNum)
{
if (p_gmmParam)
{
ASSERT2(p_nModelNum,"Error call FreeGaussMixModel() : p_nModelNum<0!");
for (int i=0;i<p_nModelNum;i++)
{
if (p_gmmParam[i].pGauss)
{
Free(p_gmmParam[i].pfMeanBuf);
Free(p_gmmParam[i].pfDiagCovBuf);
Free(p_gmmParam[i].pGauss);
p_gmmParam[i].pfMeanBuf = NULL;
p_gmmParam[i].pfDiagCovBuf = NULL;
p_gmmParam[i].pGauss = NULL;
}
Free(p_gmmParam[i].pfWeight);
p_gmmParam[i].pfWeight = NULL;
}
Free(p_gmmParam);
p_gmmParam = NULL;
}
}
/**
* \brief Command arguments parser.
*
* Using the format pointed by the argument fmt
* parses the input string filling the array argv
* with input parameters of the correct type.
*
* \param fmt Parameters format string.
* \param input Input string.
* \param argv Array filled with parameters.
*
* \return False in case of errors, otherwise true.
*/
static bool parseArgs(const char *fmt, const char *input, parms argv[])
{
const char *begin = input, *end = input;
while (*fmt)
{
// Extract the argument
if (!get_word(&begin, &end))
return false;
switch (*fmt)
{
case 'd':
(*argv++).l = atol(begin);
break;
case 's':
(*argv++).s = begin;
break;
default:
ASSERT2(0, "Unknown format for argument");
return false;
}
++fmt;
}
/* check if there are remaining args */
if (get_word(&begin, &end))
return false;
return true;
}
const DoubleArray2D Bratu<T>::solutions() const {
ASSERT2(n_vars==SIZE,"n_vars: "<<n_vars)
ASSERT2(SOLS==n_sol,"n_sol: "<<n_sol);
DoubleArray2D solution_vectors(SOLS);
for (int i=0; i<SOLS; ++i) {
const double* const x = sol[i];
solution_vectors.at(i).assign(x, x + SIZE);
}
return solution_vectors;
}
void load_id(FILE *f, const string &s) {
string s2;
load(f, s2);
if (s2 != s) {
fprintf(stderr, "Error: load_id expected |%s|, received |%s|\n", s.c_str(), s2.c_str());
ASSERT2(false, "load from file failed: load_id expected matching string");
}
}
void index_set::record_unary_primitive(int z, int x) {
pair<Map::iterator,bool> res = current.insert(Pair(z, 0));
ASSERT2(res.second, "index already inserted: "<<res.first->first);
record_arg(x);
}
uint8_t combuf_read(const combuf_t combuf, const combuf_pos_t pos)
{
ASSERT1(CHECK_COMBUF(combuf), "invalid combuf = %d", combuf);
ASSERT2(pos < PAYLOAD_SIZE(combuf),
"invalid pos = %hhu ( combuf = %d)", pos, combuf);
return PAYLOAD_ITEM(combuf, pos);
}
int port_impl::find_index_position(int i) const {
std::vector<int>::const_iterator itr = std::find(ISIMP.begin(), ISIMP.end(), i);
ASSERT2(itr!=ISIMP.end(),"index not found: "<<i);
return itr - ISIMP.begin();
}
interval& interval::operator+=(double x) {
ASSERT2(lb <= ub, *this);
lb += x;
ub += x;
return *this;
}
int test3c(int seed) {
int ret;
int numPlayers;
int curseCount, estateCount, duchyCount, provinceCount, copperCount, silverCount = 40, goldCount = 30;
struct gameState *G = newGame();
int *k = getUniqueCards();
//Test when players are 4
numPlayers = 4;
ret = initializeGame(numPlayers, k, seed, G);
curseCount = G->supplyCount[curse];
estateCount = G->supplyCount[estate];
duchyCount = G->supplyCount[duchy];
provinceCount = G->supplyCount[province];
copperCount = G->supplyCount[copper];
silverCount = G->supplyCount[silver];
goldCount = G->supplyCount[gold];
ASSERT2(curseCount, 30, "curseCount");
ASSERT2(estateCount, 12, "estateCount");
ASSERT2(duchyCount, 12, "duchyCount");
ASSERT2(provinceCount, 12, "provinceCount");
ASSERT2(copperCount, (60 - (7 * numPlayers)), "copperCount");
ASSERT2(silverCount, 40, "silverCount");
ASSERT2(goldCount, 30, "goldCount");
free(G);
free(k);
}
const interval operator*(double x, const interval& y) {
ASSERT2(y.lb <= y.ub, "y: "<<y);
double lb(x*y.lb), ub(x*y.ub);
swap_if_necessary(lb, ub);
return interval(lb, ub);
}
const interval sqr(const interval& x) {
ASSERT2(x.lb <= x.ub, "x: "<<x);
double lb(std::pow(x.lb, 2)), ub(std::pow(x.ub, 2));
swap_if_necessary(lb, ub);
return (x.lb<=0 && 0<=x.ub) ? interval(0, ub) : interval(lb, ub);
}
//bilateral constraint between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
btRigidBody& body2, const btVector3& pos2,
btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
{
(void)timeStep;
(void)distance;
btScalar normalLenSqr = normal.length2();
ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
if (normalLenSqr > btScalar(1.1))
{
impulse = btScalar(0.);
return;
}
btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
//this jacobian entry could be re-used for all iterations
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
body2.getCenterOfMassTransform().getBasis().transpose(),
rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
body2.getInvInertiaDiagLocal(),body2.getInvMass());
btScalar jacDiagAB = jac.getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
btScalar rel_vel = jac.getRelativeVelocity(
body1.getLinearVelocity(),
body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
body2.getLinearVelocity(),
body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
btScalar a;
a=jacDiagABInv;
rel_vel = normal.dot(vel);
//todo: move this into proper structure
btScalar contactDamping = btScalar(0.2);
#ifdef ONLY_USE_LINEAR_MASS
btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
impulse = - contactDamping * rel_vel * massTerm;
#else
btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
impulse = velocityImpulse;
#endif
}
void AllocGaussMixModel(GaussMixModel *p_pModel,int p_nMixNum,int p_nVecSize)
{
ASSERT2(p_nMixNum,"Error call AllocGaussMixModel() : p_nMixNum<0!");
ASSERT2(p_nVecSize,"Error call AllocGaussMixModel() : p_nVecSize<0!");
// 分配
p_pModel->pfWeight = (float *)Malloc(p_nMixNum*sizeof(float));
p_pModel->pGauss = (GaussPDF*)Malloc (p_nMixNum*sizeof(GaussPDF));
p_pModel->pfMeanBuf = (float *)Malloc(p_nMixNum*sizeof(float)*p_nVecSize,true);
p_pModel->pfDiagCovBuf = (float *)Malloc(p_nMixNum*sizeof(float)*p_nVecSize,true);
for(int m=0;m<p_nMixNum;m++)
{
p_pModel->pGauss[m].pfMean = p_pModel->pfMeanBuf + m*p_nVecSize;
p_pModel->pGauss[m].pfDiagCov = p_pModel->pfDiagCovBuf + m*p_nVecSize;
}
// 初始化
p_pModel->pfWeight[0] = 1.f;
}
bool interval::prechecked_intersection(const double l, const double u) {
ASSERT2(lb <= ub, *this);
if (l > u) {
throw infeasible_problem();
}
return intersect(l, u);
}
result_t combuf_write(const combuf_t combuf,
const combuf_pos_t pos, const uint8_t data)
{
ASSERT1(CHECK_COMBUF(combuf), "invalid combuf = %d", combuf);
ASSERT2(pos < PAYLOAD_SIZE(combuf),
"invalid pos = %hhu ( combuf = %d)", pos, combuf);
PAYLOAD_ITEM(combuf, pos) = data;
return ENOERR;
}
void port_impl::set_simple_bounds(int i, double lb, double ub) {
const int pos = 2*i;
ASSERT2(ISIMP.at(pos)==0 && SIMP.at(pos)==0.0,"bounds are already set, i: "<<i);
ISIMP.at(pos) = i+1; // TODO replace with push_back and eliminate slacks_added?
SIMP.at( pos) = lb;
ISIMP.at(pos+1) =-(i+1);
SIMP.at( pos+1) = ub;
}
void interval::less_than_or_equal_to(interval& rhs) {
ASSERT2(rhs.lb <= rhs.ub, rhs);
ASSERT2(lb <= ub, *this);
// this <= rhs
// [a, b] <= [c, d]
const double a = lb;
const double d = rhs.ub;
if (a > d) {
throw infeasible_problem();
}
intersect(a, d); // b <= d; b is modified appropriately
rhs.intersect(a, d); // a <= c; c is modified appropriately
}