void RpalParser::Bs()
{
pushProc("Bs()");
if (_nt == "not")
{
read_token("not");
Bp();
build("not", 1);
}
//else
Bp();
popProc("Bs()");
}
Expression* sintactico::Bp()
{
if(CurrentToken->tipo == AND)
{
CurrentToken = Lexer->NexToken();
Expression* izq = C();
Expression* der = Bp();
if(izq != NULL)
return new exprAnd(izq, der,Lexer->linea);
return izq;
}
return NULL;
}
/**
* Oblicza wartość kombinacji liniowej przy użyciu algorytmu Clenshawa.
*
* @param x Punkt w którym wyliczana jest wartość wielomianu.
* @param deriv Flaga mówiąca czy wyliczana jest pochodna kombinacji.
*/
real eval_clenshaw(const real &x, const bool &deriv = false) {
sequence B(P.n + 3);
B[P.n + 2] = B[P.n + 1] = 0;
for (int k = P.n; k >= 0; k--) {
B[k] = w[k] + (P.a[k + 1] * x - P.b[k + 1]) * B[k + 1] - P.c[k + 2] * B[k + 2];
}
/* Jeżeli nie chcemy liczyć pochodnej to tutaj kończymy. */
if (not deriv) {
return P.a[0] * B[0];
}
sequence Bp(P.n + 3);
Bp[P.n + 2] = Bp[P.n + 1] = 0;
for (int k = P.n; k >= 1; k--) {
Bp[k] = (P.a[k] * B[k]) + (P.a[k] * x - P.b[k]) * Bp[k + 1] - P.c[k + 1] * Bp[k + 2];
}
return P.a[0] * Bp[1];
}
void VanDerWaals::generateTriangle(Data::Mesh& mesh, Data::OMMesh::VertexHandle const& Av,
Data::OMMesh::VertexHandle const& Bv, Data::OMMesh::VertexHandle const& Cv, int div)
{
if (div <= 0) {
mesh.addFace(Cv, Bv, Av);
}else {
Data::OMMesh::Point Ap(mesh.vertex(Av));
Data::OMMesh::Point Bp(mesh.vertex(Bv));
Data::OMMesh::Point Cp(mesh.vertex(Cv));
// create 3 new vertices at the edge midpoints
Data::OMMesh::Point ABp((Ap+Bp)*0.5);
Data::OMMesh::Point BCp((Bp+Cp)*0.5);
Data::OMMesh::Point CAp((Cp+Ap)*0.5);
// Normalize the midpoints to keep them on the sphere
ABp.normalize();
BCp.normalize();
CAp.normalize();
Data::OMMesh::VertexHandle ABv(mesh.addVertex(ABp));
Data::OMMesh::VertexHandle BCv(mesh.addVertex(BCp));
Data::OMMesh::VertexHandle CAv(mesh.addVertex(CAp));
mesh.setNormal(ABv, ABp);
mesh.setNormal(BCv, BCp);
mesh.setNormal(CAv, CAp);
generateTriangle(mesh, Av, ABv, CAv, div-1);
generateTriangle(mesh, Bv, BCv, ABv, div-1);
generateTriangle(mesh, Cv, CAv, BCv, div-1);
generateTriangle(mesh, ABv, BCv, CAv, div-1); //<-- Remove for serpinski
}
}
ordinal_type
Stokhos::MonomialProjGramSchmidtPCEBasis<ordinal_type, value_type>::
buildReducedBasis(
ordinal_type max_p,
value_type threshold,
const Teuchos::SerialDenseMatrix<ordinal_type,value_type>& A,
const Teuchos::SerialDenseMatrix<ordinal_type,value_type>& F,
const Teuchos::Array<value_type>& weights,
Teuchos::Array< Stokhos::MultiIndex<ordinal_type> >& terms_,
Teuchos::Array<ordinal_type>& num_terms_,
Teuchos::SerialDenseMatrix<ordinal_type,value_type>& Qp_,
Teuchos::SerialDenseMatrix<ordinal_type,value_type>& Q_)
{
// Compute basis terms -- 2-D array giving powers for each linear index
ordinal_type max_sz;
CPBUtils::compute_terms(max_p, this->d, max_sz, terms_, num_terms_);
// Compute B matrix -- monomials in F
// for i=0,...,nqp-1
// for j=0,...,sz-1
// B(i,j) = F(i,1)^terms_[j][1] * ... * F(i,d)^terms_[j][d]
// where sz is the total size of a basis up to order p and terms_[j]
// is an array of powers for each term in the total-order basis
ordinal_type nqp = weights.size();
SDM B(nqp, max_sz);
for (ordinal_type i=0; i<nqp; i++) {
for (ordinal_type j=0; j<max_sz; j++) {
B(i,j) = 1.0;
for (ordinal_type k=0; k<this->d; k++)
B(i,j) *= std::pow(F(i,k), terms_[j][k]);
}
}
// Project B into original basis -- should use SPAM for this
SDM Bp(this->pce_sz, max_sz);
const Teuchos::Array<value_type>& basis_norms =
this->pce_basis->norm_squared();
for (ordinal_type i=0; i<this->pce_sz; i++) {
for (ordinal_type j=0; j<max_sz; j++) {
Bp(i,j) = 0.0;
for (ordinal_type k=0; k<nqp; k++)
Bp(i,j) += weights[k]*B(k,j)*A(k,i);
Bp(i,j) /= basis_norms[i];
}
}
// Rescale columns of Bp to have unit norm
for (ordinal_type j=0; j<max_sz; j++) {
value_type nrm = 0.0;
for (ordinal_type i=0; i<this->pce_sz; i++)
nrm += Bp(i,j)*Bp(i,j)*basis_norms[i];
nrm = std::sqrt(nrm);
for (ordinal_type i=0; i<this->pce_sz; i++)
Bp(i,j) /= nrm;
}
// Compute our new basis -- each column of Qp is the coefficients of the
// new basis in the original basis. Constraint pivoting so first d+1
// columns and included in Qp.
Teuchos::Array<value_type> w(this->pce_sz, 1.0);
SDM R;
Teuchos::Array<ordinal_type> piv(max_sz);
for (int i=0; i<this->d+1; i++)
piv[i] = 1;
typedef Stokhos::OrthogonalizationFactory<ordinal_type,value_type> SOF;
ordinal_type sz_ = SOF::createOrthogonalBasis(
this->orthogonalization_method, threshold, this->verbose, Bp, w,
Qp_, R, piv);
// Evaluate new basis at original quadrature points
Q_.reshape(nqp, sz_);
ordinal_type ret =
Q_.multiply(Teuchos::NO_TRANS, Teuchos::NO_TRANS, 1.0, A, Qp_, 0.0);
TEUCHOS_ASSERT(ret == 0);
return sz_;
}
TSIL_COMPLEX TSIL_Bp (TSIL_REAL X, TSIL_REAL Y, TSIL_COMPLEX S, TSIL_REAL QQ)
{
return Bp (X, Y, S, QQ);
}
vector<Box3d*> TableObjectDetector::getHulls(const Mat P, const Mat L, const Mat plane) {
double K;
minMaxIdx(L, NULL, &K);
vector<Box3d*> B;
Mat Rp = determinePlaneRotation(-plane.col(0));
// We found a rotation from a horizontal plane to our fitted plane
// We want a translation from our fitted plane to a horizontal plane
transpose(Rp, Rp);
Mat Pt; transpose(P, Pt);
Mat P_rot = Rp*Pt;
for (int k=0; k<=K; k++) {
double xmin = 1000; double ymin = 1000; double zmin = 1000;
double xmax = -1000; double ymax = -1000; double zmax = -1000;
for (int i=0; i<P_rot.cols; i++) {
if (L.at<int>(i)==k) {
double x = P_rot.at<double>(0, i);
double y = P_rot.at<double>(1, i);
double z = P_rot.at<double>(2, i);
if (x < xmin) {
xmin = x;
}
if (x>xmax) {
xmax = x;
}
if (y<ymin) {
ymin = y;
}
if (y>ymax) {
ymax = y;
}
if (z<zmin) {
zmin = z;
}
if (z>zmax) {
zmax = z;
}
}
}
zmax += 0.015; // Add the threshold so that the hull touches the plane
Mat Bp(3, 8, CV_64F);
Bp.at<double>(0, 0) = xmin; Bp.at<double>(1, 0) = ymin; Bp.at<double>(2, 0) = zmin;
Bp.at<double>(0, 1) = xmax; Bp.at<double>(1, 1) = ymin; Bp.at<double>(2, 1) = zmin;
Bp.at<double>(0, 2) = xmax; Bp.at<double>(1, 2) = ymax; Bp.at<double>(2, 2) = zmin;
Bp.at<double>(0, 3) = xmin; Bp.at<double>(1, 3) = ymax; Bp.at<double>(2, 3) = zmin;
Bp.at<double>(0, 4) = xmin; Bp.at<double>(1, 4) = ymin; Bp.at<double>(2, 4) = zmax;
Bp.at<double>(0, 5) = xmax; Bp.at<double>(1, 5) = ymin; Bp.at<double>(2, 5) = zmax;
Bp.at<double>(0, 6) = xmax; Bp.at<double>(1, 6) = ymax; Bp.at<double>(2, 6) = zmax;
Bp.at<double>(0, 7) = xmin; Bp.at<double>(1, 7) = ymax; Bp.at<double>(2, 7) = zmax;
Mat Rpp; transpose(Rp, Rpp);
Bp = Rpp*Bp;
transpose(Bp, Bp);
Box3d* Bk = new Box3d(Bp);
B.push_back(Bk);
}
this->objectHulls = B;
return B;
}
