void NPole::step(int action)
{
vector<double> a = m_action_mapping[action];
for(unsigned int i = 0; i < 1; i++)
{
calculate_accel(a);
}
calculate_pos(false);
}
m_tile *create_tile(int pos_x, int pos_y, int cost, int end, void *parent){
m_tile *discovered_tile = (m_tile*)malloc(sizeof(m_tile));
assert(discovered_tile != NULL);
discovered_tile->position = calculate_pos(pos_x, pos_y);
discovered_tile->cost = cost;
discovered_tile->state = NEW;
discovered_tile->parent = parent;
return discovered_tile;
}
void NPole::init()
{
all_x.clear();
all_y.clear();
num_iterations = 0;
cum_r = 0;
cycles.clear();
cycles.push_back(0);
cycles.push_back(0);
for(arma::mat::iterator it = state.begin(); it != state.end(); it++)
{
double f = (double)rand() / RAND_MAX;
double start_theta = -.0872664626 + f * (.0872664626 - -.0872664626);
if(it == state.begin()) *it = 0;
else *it = 3.14159;
}
state_dot.fill(0);
calculate_pos(false);
}
icalcomponent *icaltzutil_fetch_timezone(const char *location)
{
tzinfo type_cnts;
size_t i, num_trans, num_chars, num_leaps, num_isstd, num_isgmt;
size_t num_types = 0;
size_t size;
time_t trans;
int dstidx = -1, stdidx = -1, pos, sign, zidx, zp_idx;
icalcomponent *std_comp = NULL;
const char *zonedir;
FILE *f = NULL;
char *full_path = NULL;
time_t *transitions = NULL;
char *r_trans = NULL, *temp;
int *trans_idx = NULL;
ttinfo *types = NULL;
char *znames = NULL;
leap *leaps = NULL;
char *tzid = NULL;
time_t start, end;
int idx, prev_idx;
icalcomponent *tz_comp = NULL, *comp = NULL, *dst_comp;
icalproperty *icalprop;
icaltimetype dtstart, icaltime;
struct icalrecurrencetype ical_recur;
if (icaltimezone_get_builtin_tzdata()) {
goto error;
}
zonedir = icaltzutil_get_zone_directory();
if (!zonedir) {
icalerror_set_errno(ICAL_FILE_ERROR);
goto error;
}
size = strlen(zonedir) + strlen(location) + 2;
full_path = (char *)malloc(size);
if (full_path == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
snprintf(full_path, size, "%s/%s", zonedir, location);
if ((f = fopen(full_path, "rb")) == 0) {
icalerror_set_errno(ICAL_FILE_ERROR);
goto error;
}
if (fseek(f, 20, SEEK_SET) != 0) {
icalerror_set_errno(ICAL_FILE_ERROR);
goto error;
}
EFREAD(&type_cnts, 24, 1, f);
num_isgmt = (size_t)decode(type_cnts.ttisgmtcnt);
num_leaps = (size_t)decode(type_cnts.leapcnt);
num_chars = (size_t)decode(type_cnts.charcnt);
num_trans = (size_t)decode(type_cnts.timecnt);
num_isstd = (size_t)decode(type_cnts.ttisstdcnt);
num_types = (size_t)decode(type_cnts.typecnt);
transitions = calloc(num_trans, sizeof(time_t));
if (transitions == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
r_trans = calloc(num_trans, 4);
if (r_trans == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
EFREAD(r_trans, 4, num_trans, f);
temp = r_trans;
if (num_trans) {
trans_idx = calloc(num_trans, sizeof(int));
if (trans_idx == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
for (i = 0; i < num_trans; i++) {
trans_idx[i] = fgetc(f);
transitions[i] = (time_t) decode(r_trans);
r_trans += 4;
}
}
r_trans = temp;
types = calloc(num_types, sizeof(ttinfo));
if (types == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
for (i = 0; i < num_types; i++) {
unsigned char a[4];
int c;
EFREAD(a, 4, 1, f);
c = fgetc(f);
types[i].isdst = (unsigned char)c;
if ((c = fgetc(f)) < 0) {
break;
}
types[i].abbr = (unsigned int)c;
types[i].gmtoff = decode(a);
}
znames = (char *)malloc(num_chars);
if (znames == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
EFREAD(znames, num_chars, 1, f);
/* We got all the information which we need */
leaps = calloc(num_leaps, sizeof(leap));
if (leaps == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
for (i = 0; i < num_leaps; i++) {
char c[4];
EFREAD(c, 4, 1, f);
leaps[i].transition = (time_t)decode(c);
EFREAD(c, 4, 1, f);
leaps[i].change = decode(c);
}
for (i = 0; i < num_isstd; ++i) {
int c = getc(f);
types[i].isstd = c != 0;
}
while (i < num_types) {
types[i++].isstd = 0;
}
for (i = 0; i < num_isgmt; ++i) {
int c = getc(f);
types[i].isgmt = c != 0;
}
while (i < num_types) {
types[i++].isgmt = 0;
}
/* Read all the contents now */
for (i = 0; i < num_types; i++) {
/* coverity[tainted_data] */
types[i].zname = zname_from_stridx(znames, types[i].abbr);
}
if (!_s_use_exact_timezones) {
if (num_trans != 0) {
find_transidx(transitions, types, trans_idx, (long int)num_trans, &stdidx, &dstidx);
} else {
stdidx = 0;
}
}
tz_comp = icalcomponent_new(ICAL_VTIMEZONE_COMPONENT);
/* Add tzid property */
size = strlen(icaltimezone_tzid_prefix()) + strlen(location) + 1;
tzid = (char *)malloc(size);
if (tzid == NULL) {
icalerror_set_errno(ICAL_NEWFAILED_ERROR);
goto error;
}
snprintf(tzid, size, "%s%s", icaltimezone_tzid_prefix(), location);
icalprop = icalproperty_new_tzid(tzid);
icalcomponent_add_property(tz_comp, icalprop);
icalprop = icalproperty_new_x(location);
icalproperty_set_x_name(icalprop, "X-LIC-LOCATION");
icalcomponent_add_property(tz_comp, icalprop);
if (!_s_use_exact_timezones) {
if (stdidx != -1) {
if (num_trans != 0) {
zidx = trans_idx[stdidx];
} else {
zidx = 0;
}
std_comp = icalcomponent_new(ICAL_XSTANDARD_COMPONENT);
icalprop = icalproperty_new_tzname(types[zidx].zname);
icalcomponent_add_property(std_comp, icalprop);
if (dstidx != -1) {
zp_idx = trans_idx[stdidx-1];
} else {
zp_idx = zidx;
}
/* DTSTART localtime uses TZOFFSETFROM UTC offset */
if (num_trans != 0) {
trans = transitions[stdidx] + types[zp_idx].gmtoff;
} else {
trans = (time_t)types[zp_idx].gmtoff;
}
icaltime = icaltime_from_timet_with_zone(trans, 0, NULL);
dtstart = icaltime;
dtstart.year = 1970;
dtstart.minute = dtstart.second = 0;
icalprop = icalproperty_new_dtstart(dtstart);
icalcomponent_add_property(std_comp, icalprop);
/* If DST changes are present use RRULE */
if (dstidx != -1) {
icalrecurrencetype_clear(&ical_recur);
ical_recur.freq = ICAL_YEARLY_RECURRENCE;
ical_recur.by_month[0] = icaltime.month;
pos = calculate_pos(icaltime);
pos < 0 ? (sign = -1): (sign = 1);
ical_recur.by_day[0] = sign * ((abs(pos) * 8) + icaltime_day_of_week(icaltime));
icalprop = icalproperty_new_rrule(ical_recur);
icalcomponent_add_property(std_comp, icalprop);
adjust_dtstart_day_to_rrule(std_comp, ical_recur);
}
icalprop = icalproperty_new_tzoffsetfrom(types[zp_idx].gmtoff);
icalcomponent_add_property(std_comp, icalprop);
icalprop = icalproperty_new_tzoffsetto(types[zidx].gmtoff);
icalcomponent_add_property(std_comp, icalprop);
icalcomponent_add_component(tz_comp, std_comp);
} else {
icalerror_set_errno(ICAL_MALFORMEDDATA_ERROR);
}
if (dstidx != -1) {
zidx = trans_idx[dstidx];
zp_idx = trans_idx[dstidx-1];
dst_comp = icalcomponent_new(ICAL_XDAYLIGHT_COMPONENT);
icalprop = icalproperty_new_tzname(types[zidx].zname);
icalcomponent_add_property(dst_comp, icalprop);
/* DTSTART localtime uses TZOFFSETFROM UTC offset */
trans = transitions[dstidx] + types[zp_idx].gmtoff;
icaltime = icaltime_from_timet_with_zone(trans, 0, NULL);
dtstart = icaltime;
dtstart.year = 1970;
dtstart.minute = dtstart.second = 0;
icalprop = icalproperty_new_dtstart(dtstart);
icalcomponent_add_property(dst_comp, icalprop);
icalrecurrencetype_clear(&ical_recur);
ical_recur.freq = ICAL_YEARLY_RECURRENCE;
ical_recur.by_month[0] = icaltime.month;
pos = calculate_pos(icaltime);
pos < 0 ? (sign = -1): (sign = 1);
ical_recur.by_day[0] = sign * ((abs(pos) * 8) + icaltime_day_of_week(icaltime));
icalprop = icalproperty_new_rrule(ical_recur);
icalcomponent_add_property(dst_comp, icalprop);
adjust_dtstart_day_to_rrule(dst_comp, ical_recur);
icalprop = icalproperty_new_tzoffsetfrom(types[zp_idx].gmtoff);
icalcomponent_add_property(dst_comp, icalprop);
icalprop = icalproperty_new_tzoffsetto(types[zidx].gmtoff);
icalcomponent_add_property(dst_comp, icalprop);
icalcomponent_add_component(tz_comp, dst_comp);
}
} else { /*exact vtimezones*/
prev_idx = 0;
if (num_trans == 0) {
prev_idx = idx = 0;
} else {
idx = trans_idx[0];
}
start = 0;
for (i = 1; i < num_trans; i++, start = end) {
prev_idx = idx;
idx = trans_idx[i];
end = transitions[i] + types[prev_idx].gmtoff;
/* don't bother starting until the epoch */
if (0 > end)
continue;
if (types[prev_idx].isdst) {
comp = icalcomponent_new(ICAL_XDAYLIGHT_COMPONENT);
} else {
comp = icalcomponent_new(ICAL_XSTANDARD_COMPONENT);
}
icalprop = icalproperty_new_tzname(types[prev_idx].zname);
icalcomponent_add_property(comp, icalprop);
dtstart = icaltime_from_timet_with_zone(start, 0, NULL);
icalprop = icalproperty_new_dtstart(dtstart);
icalcomponent_add_property(comp, icalprop);
icalprop = icalproperty_new_tzoffsetfrom(types[idx].gmtoff);
icalcomponent_add_property(comp, icalprop);
icalprop = icalproperty_new_tzoffsetto(types[prev_idx].gmtoff);
icalcomponent_add_property(comp, icalprop);
icalcomponent_add_component(tz_comp, comp);
}
/* finally, add a last zone with no end date */
if (types[idx].isdst) {
comp = icalcomponent_new(ICAL_XDAYLIGHT_COMPONENT);
} else {
comp = icalcomponent_new(ICAL_XSTANDARD_COMPONENT);
}
icalprop = icalproperty_new_tzname(types[idx].zname);
icalcomponent_add_property(comp, icalprop);
dtstart = icaltime_from_timet_with_zone(start, 0, NULL);
icalprop = icalproperty_new_dtstart(dtstart);
icalcomponent_add_property(comp, icalprop);
icalprop = icalproperty_new_tzoffsetfrom(types[prev_idx].gmtoff);
icalcomponent_add_property(comp, icalprop);
icalprop = icalproperty_new_tzoffsetto(types[idx].gmtoff);
icalcomponent_add_property(comp, icalprop);
icalcomponent_add_component(tz_comp, comp);
}
error:
if (f)
fclose(f);
if (full_path)
free(full_path);
if (transitions)
free(transitions);
if (r_trans)
free(r_trans);
if (trans_idx)
free(trans_idx);
if (types) {
for (i = 0; i < num_types; i++) {
if (types[i].zname) {
free(types[i].zname);
}
}
free(types);
}
if (znames)
free(znames);
if (leaps)
free(leaps);
if (tzid)
free(tzid);
return tz_comp;
}
icalcomponent*
icaltzutil_fetch_timezone (const char *location)
{
int ret = 0;
FILE *f;
tzinfo type_cnts;
unsigned int num_trans, num_types, num_chars, num_leaps, num_isstd, num_isgmt;
time_t *transitions = NULL;
time_t trans;
int *trans_idx = NULL, dstidx = -1, stdidx = -1, pos, sign, zidx, zp_idx, i;
ttinfo *types = NULL;
char *znames = NULL, *full_path, *tzid, *r_trans, *temp;
leap *leaps = NULL;
icalcomponent *tz_comp = NULL, *dst_comp = NULL, *std_comp = NULL;
icalproperty *icalprop;
icaltimetype dtstart, icaltime;
struct icalrecurrencetype ical_recur;
if (!zdir)
set_zone_directory ();
full_path = (char *) malloc (strlen (zdir) + strlen (location) + 2);
sprintf (full_path,"%s/%s",zdir, location);
if ((f = fopen (full_path, "rb")) == 0) {
icalerror_set_errno (ICAL_FILE_ERROR);
free (full_path);
return NULL;
}
if ((ret = fseek (f, 20, SEEK_SET)) != 0) {
icalerror_set_errno (ICAL_FILE_ERROR);
goto error;
}
EFREAD(&type_cnts, 24, 1, f);
num_isgmt = decode (type_cnts.ttisgmtcnt);
num_leaps = decode (type_cnts.leapcnt);
num_chars = decode (type_cnts.charcnt);
num_trans = decode (type_cnts.timecnt);
num_isstd = decode (type_cnts.ttisstdcnt);
num_types = decode (type_cnts.typecnt);
transitions = calloc (num_trans, sizeof (time_t));
r_trans = calloc (num_trans, 4);
EFREAD(r_trans, 4, num_trans, f);
temp = r_trans;
if (num_trans) {
trans_idx = calloc (num_trans, sizeof (int));
for (i = 0; i < num_trans; i++) {
trans_idx [i] = fgetc (f);
transitions [i] = decode (r_trans);
r_trans += 4;
}
}
free (temp);
types = calloc (num_types, sizeof (ttinfo));
for (i = 0; i < num_types; i++) {
unsigned char a [4];
int c;
EFREAD(a, 4, 1, f);
c = fgetc (f);
types [i].isdst = c;
if((c = fgetc (f)) < 0) {
c = 0;
break;
}
types [i].abbr = c;
types [i].gmtoff = decode (a);
}
znames = (char *) malloc (num_chars);
EFREAD(znames, num_chars, 1, f);
/* We got all the information which we need */
leaps = calloc (num_leaps, sizeof (leap));
for (i = 0; i < num_leaps; i++) {
char c [4];
EFREAD (c, 4, 1, f);
leaps [i].transition = decode (c);
EFREAD (c, 4, 1, f);
leaps [i].change = decode (c);
}
for (i = 0; i < num_isstd; ++i) {
int c = getc (f);
types [i].isstd = c != 0;
}
while (i < num_types)
types [i++].isstd = 0;
for (i = 0; i < num_isgmt; ++i) {
int c = getc (f);
types [i].isgmt = c != 0;
}
while (i < num_types)
types [i++].isgmt = 0;
/* Read all the contents now */
for (i = 0; i < num_types; i++)
types [i].zname = zname_from_stridx (znames, types [i].abbr);
if (num_trans != 0)
find_transidx (transitions, types, trans_idx, num_trans, &stdidx, &dstidx);
else
stdidx = 0;
tz_comp = icalcomponent_new (ICAL_VTIMEZONE_COMPONENT);
/* Add tzid property */
tzid = (char *) malloc (strlen (ical_tzid_prefix) + strlen (location) + 8);
sprintf (tzid, "%sTzfile/%s", ical_tzid_prefix, location);
icalprop = icalproperty_new_tzid (tzid);
icalcomponent_add_property (tz_comp, icalprop);
free (tzid);
icalprop = icalproperty_new_x (location);
icalproperty_set_x_name (icalprop, "X-LIC-LOCATION");
icalcomponent_add_property (tz_comp, icalprop);
if (stdidx != -1) {
if (num_trans != 0)
zidx = trans_idx [stdidx];
else
zidx = 0;
std_comp = icalcomponent_new (ICAL_XSTANDARD_COMPONENT);
icalprop = icalproperty_new_tzname (types [zidx].zname);
icalcomponent_add_property (std_comp, icalprop);
if (dstidx != -1)
zp_idx = trans_idx [stdidx-1];
else
zp_idx = zidx;
/* DTSTART localtime uses TZOFFSETFROM UTC offset */
trans = transitions [stdidx] + types [zp_idx].gmtoff;
icaltime = icaltime_from_timet (trans, 0);
dtstart = icaltime;
dtstart.year = 1970;
dtstart.minute = dtstart.second = 0;
icalprop = icalproperty_new_dtstart (dtstart);
icalcomponent_add_property (std_comp, icalprop);
/* If DST changes are present use RRULE */
if (dstidx != -1) {
icalrecurrencetype_clear (&ical_recur);
ical_recur.freq = ICAL_YEARLY_RECURRENCE;
ical_recur.by_month [0] = icaltime.month;
pos = calculate_pos (icaltime);
pos < 0 ? (sign = -1): (sign = 1);
ical_recur.by_day [0] = sign * ((abs (pos) * 8) + icaltime_day_of_week (icaltime));
icalprop = icalproperty_new_rrule (ical_recur);
icalcomponent_add_property (std_comp, icalprop);
adjust_dtstart_day_to_rrule (std_comp, ical_recur);
}
icalprop = icalproperty_new_tzoffsetfrom (types [zp_idx].gmtoff);
icalcomponent_add_property (std_comp, icalprop);
icalprop = icalproperty_new_tzoffsetto (types [zidx].gmtoff);
icalcomponent_add_property (std_comp, icalprop);
icalcomponent_add_component (tz_comp, std_comp);
} else
icalerror_set_errno (ICAL_MALFORMEDDATA_ERROR);
if (dstidx != -1) {
zidx = trans_idx [dstidx];
zp_idx = trans_idx [dstidx-1];
dst_comp = icalcomponent_new (ICAL_XDAYLIGHT_COMPONENT);
icalprop = icalproperty_new_tzname (types [zidx].zname);
icalcomponent_add_property (dst_comp, icalprop);
/* DTSTART localtime uses TZOFFSETFROM UTC offset */
trans = transitions [dstidx] + types [zp_idx].gmtoff;
icaltime = icaltime_from_timet (trans, 0);
dtstart = icaltime;
dtstart.year = 1970;
dtstart.minute = dtstart.second = 0;
icalprop = icalproperty_new_dtstart (dtstart);
icalcomponent_add_property (dst_comp, icalprop);
icalrecurrencetype_clear (&ical_recur);
ical_recur.freq = ICAL_YEARLY_RECURRENCE;
ical_recur.by_month [0] = icaltime.month;
pos = calculate_pos (icaltime);
pos < 0 ? (sign = -1): (sign = 1);
ical_recur.by_day [0] = sign * ((abs (pos) * 8) + icaltime_day_of_week (icaltime));
icalprop = icalproperty_new_rrule (ical_recur);
icalcomponent_add_property (dst_comp, icalprop);
adjust_dtstart_day_to_rrule (dst_comp, ical_recur);
icalprop = icalproperty_new_tzoffsetfrom (types [zp_idx].gmtoff);
icalcomponent_add_property (dst_comp, icalprop);
icalprop = icalproperty_new_tzoffsetto (types [zidx].gmtoff);
icalcomponent_add_property (dst_comp, icalprop);
icalcomponent_add_component (tz_comp, dst_comp);
}
error:
if (f)
fclose (f);
if (transitions)
free (transitions);
if (trans_idx)
free (trans_idx);
if (types) {
for (i = 0; i < num_types; i++)
if (types [i].zname)
free (types [i].zname);
free (types);
}
if (znames)
free (znames);
free (full_path);
if (leaps)
free (leaps);
return tz_comp;
}