void mexFunction (int nlhs, mxArray *plhs[],
int nrhs, const mxArray*prhs[])
{
if (nrhs != 2)
mexErrMsgTxt ("This function requires exactly 2 input arguments");
if (nlhs > 1)
mexErrMsgTxt ("This function output exactly 1 argument");
int d = mxGetM (prhs[0]); /* d is the number of codes, i.e., 8 times the number of bits */
int na = mxGetN (prhs[0]);
int nb = mxGetN (prhs[1]);
if (mxGetM (prhs[1]) != d)
mexErrMsgTxt("Dimension of binary vectors are not consistent");
if (mxGetClassID(prhs[0]) != mxUINT8_CLASS)
mexErrMsgTxt ("first argument should be uint 8 type");
if (mxGetClassID(prhs[1]) != mxUINT8_CLASS)
mexErrMsgTxt ("second argument should be uint8 type");
uint8 * a = (uint8*) mxGetPr (prhs[0]);
uint8 * b = (uint8*) mxGetPr (prhs[1]);
/* ouptut: distances */
plhs[0] = mxCreateNumericMatrix (na, nb, mxUINT16_CLASS, mxREAL);
uint16 *dis = (uint16*) mxGetPr (plhs[0]);
if (BITVECBYTE == d)
compute_hamming (dis, a, b, na, nb);
else
compute_hamming_generic (dis, a, b, na, nb, d);
}
void mexFunction (int nlhs, mxArray *plhs[],
int nrhs, const mxArray*prhs[])
{
int mode_thres = 0;
if (nrhs != 2 && nrhs != 3)
mexErrMsgTxt ("This function requires either 2 input arguments.");
if (nrhs == 3) mode_thres = 1;
int d = mxGetM (prhs[0]); /* d is the number of codes, i.e., 8 times the number of bits */
int na = mxGetN (prhs[0]);
int nb = mxGetN (prhs[1]);
if (mxGetM (prhs[1]) != d)
usage ("Dimension of binary vectors are not consistent");
if (mxGetClassID(prhs[0]) != mxUINT8_CLASS)
usage ("first argument should be uint 8 type");
if (mxGetClassID(prhs[1]) != mxUINT8_CLASS)
usage ("second argument should be uint8 type");
uint8 * a = (uint8*) mxGetPr (prhs[0]);
uint8 * b = (uint8*) mxGetPr (prhs[1]);
/* Just compute all Hamming distances */
if (mode_thres == 0) {
if (nlhs > 1)
usage ("This syntax expects only exactly one output argument");
/* ouptut: distances */
plhs[0] = mxCreateNumericMatrix (na, nb, mxUINT16_CLASS, mxREAL);
uint16 *dis = (uint16*) mxGetPr (plhs[0]);
compute_hamming (dis, a, b, na, nb, d);
}
/* Return only the Hamming distances below a given threshold */
else {
if (nlhs != 2)
usage ("This syntax expects only exactly two output arguments");
int ht = (int) mxGetScalar (prhs[2]);
size_t totmatches;
int * keys;
uint16 *dis;
size_t i;
/* #ifndef _OPENMP */
match_hamming_count (a, b, na, nb, ht, d, &totmatches);
plhs[0] = mxCreateNumericMatrix (2, totmatches, mxINT32_CLASS, mxREAL);
plhs[1] = mxCreateNumericMatrix (1, totmatches, mxUINT16_CLASS, mxREAL);
keys = (int *) mxGetPr(plhs[0]);
dis = (uint16*) mxGetPr (plhs[1]);
size_t ret = match_hamming_thres_prealloc (a, b, na, nb, ht, d, keys, dis);
assert (ret == totmatches);
/* Fix Matlab identifiers */
for (i = 0 ; i < 2 * totmatches ; i++)
keys[i] = keys[i] + 1;
}
}
packet_t encapsulate(char command)
{
packet_t outgoing;
switch(command)
{
case ESC:
outgoing.header = STOP;
outgoing.command = EMPTY;
break;
/* MODES */
case ZERO:
outgoing.header = SET_MODE;
outgoing.command = SAFE_MODE;
break;
case ONE:
outgoing.header = SET_MODE;
outgoing.command = PANIC_MODE;
break;
case TWO:
outgoing.header = SET_MODE;
outgoing.command = MANUAL_MODE;
break;
case THREE:
outgoing.header = SET_MODE;
outgoing.command = CALIBRATION_MODE;
break;
case FOUR:
outgoing.header = SET_MODE;
outgoing.command = YAW_MODE;
break;
case FIVE:
outgoing.header = SET_MODE;
outgoing.command = FULL_MODE;
break;
case SEVEN:
outgoing.header = LOG;
outgoing.command = LOG_START;
break;
case EIGHT:
outgoing.header = LOG;
outgoing.command = LOG_STOP;
break;
case NINE:
outgoing.header = LOG;
outgoing.command = LOG_GET;
break;
/* MANUAL CONTROL */
case A:
outgoing.header = D_LIFT;
outgoing.command = INCREASE;
break;
case Z:
outgoing.header = D_LIFT;
outgoing.command = DECREASE;
break;
case Q:
outgoing.header = D_YAWRATE;
outgoing.command = DECREASE;
break;
case W:
outgoing.header = D_YAWRATE;
outgoing.command = INCREASE;
break;
case ARROW_U:
outgoing.header = D_PITCH;
outgoing.command = DECREASE;
break;
case ARROW_D:
outgoing.header = D_PITCH;
outgoing.command = INCREASE;
break;
case ARROW_R:
outgoing.header = D_ROLL;
outgoing.command = DECREASE;
break;
case ARROW_L:
outgoing.header = D_ROLL;
outgoing.command = INCREASE;
break;
/* CONTROLLER SETTINGS */
case Y:
outgoing.header = SET_CONTROLLER_PITCH;
outgoing.command = INCREASE;
break;
case H:
outgoing.header = SET_CONTROLLER_PITCH;
outgoing.command = DECREASE;
break;
case U:
outgoing.header = SET_CONTROLLER_ROLL;
outgoing.command = INCREASE;
break;
case J:
outgoing.header = SET_CONTROLLER_ROLL;
outgoing.command = DECREASE;
break;
case I:
outgoing.header = SET_CONTROLLER_YAW;
outgoing.command = INCREASE;
break;
case K:
outgoing.header = SET_CONTROLLER_YAW;
outgoing.command = DECREASE;
break;
case O:
outgoing.header = SET_SCALE_YAW;
outgoing.command = INCREASE;
break;
case L:
outgoing.header = SET_SCALE_YAW;
outgoing.command = DECREASE;
break;
case N:
outgoing.header = SET_CONTROLLER_YAW;
outgoing.command = INCREASE;
break;
case M:
outgoing.header = SET_CONTROLLER_YAW;
outgoing.command = DECREASE;
break;
/* NOT RECOGNIZED */
default:
outgoing.header = EMPTY;
outgoing.command = EMPTY;
break;
};
compute_hamming(&outgoing);
return outgoing;
}
