void
CKLBUIScore::execute(u32 deltaT)
{
deltaT = deltaT; // Avoid Warning
bool useFloat = CHANGE_B;
s32 fDot = 0;
int column;
if (useFloat) {
m_pScoreNode->setScoreFloat(m_fValue, m_fPrec, true);
if (!m_bFillZero) {
column = countColumn(m_pScoreNode->getScore());
fDot = 1;
}
} else {
int value = m_value;
if(m_bCountClip && value >= m_maxvalue) value = m_maxvalue - 1;
m_pScoreNode->setScore(value, true);
column = countColumn(value); // 桁数をカウント
}
m_pScoreNode->setPriority(m_order);
m_pScoreNode->update();
if(!m_bFillZero) {
int offX;
int offY;
int stepX = m_stepX;
int stepY = m_stepY;
int max_cols = m_column;
int dotStepX = (m_dotStepX * fDot);
int dotStepY = (m_dotStepY * fDot);
if(column > max_cols) { column = max_cols; }
switch(m_align)
{
default:
case ALIGN_RIGHT:
offX = 0;
offY = 0;
break;
case ALIGN_CENTER:
offX = ((m_width - stepX * column) + dotStepX) / 2;
offY = ((m_height - stepY * column) + dotStepY) / 2;
break;
case ALIGN_LEFT:
offX = (m_width - (stepX * column)) + dotStepX;
offY = (m_height - (stepY * column)) + dotStepY;
break;
}
m_pScoreNode->setTranslate(-offX, -offY);
}
RESET_A;
RESET_B;
}
bool verifyFileConsistency(const char *filename)
{
std::ifstream ifs(filename);
if (!ifs)
{
return false;
}
std::string line;
std::getline(ifs, line);
size_t ncol = countColumn(line);
while (std::getline(ifs, line))
{
if (countColumn(line) != ncol + 1)
return false;
}
return true;
}
void HistogramTablesFormatter::QueryHistogram(unsigned typeIndex, std::vector<HistogramItem> &histogram)
{
casacore::Table &table(getTable(HistogramCountTable, false));
const unsigned nrRow = table.nrow();
casacore::ROScalarColumn<int> typeColumn(table, ColumnNameType);
casacore::ROScalarColumn<double> binStartColumn(table, ColumnNameBinStart);
casacore::ROScalarColumn<double> binEndColumn(table, ColumnNameBinEnd);
casacore::ROScalarColumn<double> countColumn(table, ColumnNameCount);
for(unsigned i=0;i<nrRow;++i)
{
if(typeColumn(i) == (int) typeIndex)
{
HistogramItem item;
item.binStart = binStartColumn(i);
item.binEnd = binEndColumn(i);
item.count = countColumn(i);
histogram.push_back(item);
}
}
}
void HistogramTablesFormatter::StoreValue(unsigned typeIndex, double binStart, double binEnd, double count)
{
openCountTable(true);
unsigned newRow = _countTable->nrow();
_countTable->addRow();
casacore::ScalarColumn<int> typeColumn(*_countTable, ColumnNameType);
casacore::ScalarColumn<double> binStartColumn(*_countTable, ColumnNameBinStart);
casacore::ScalarColumn<double> binEndColumn(*_countTable, ColumnNameBinEnd);
casacore::ScalarColumn<double> countColumn(*_countTable, ColumnNameCount);
typeColumn.put(newRow, typeIndex);
binStartColumn.put(newRow, binStart);
binEndColumn.put(newRow, binEnd);
countColumn.put(newRow, count);
}
static std::vector<WP> readWaypoint(const char *filename)
{
std::ifstream ifs(filename);
std::string line;
std::getline(ifs, line); // Remove first line
size_t ncol = countColumn(line);
std::vector<WP> waypoints;
if (ncol == 3)
{
while (std::getline(ifs, line))
{
waypoints.push_back(parseWaypoint(line, false));
}
size_t last = waypoints.size() - 1;
for (size_t i = 0; i < waypoints.size(); ++i)
{
double yaw;
if (i == last)
{
yaw = atan2(waypoints[i-1].pose.position.y - waypoints[i].pose.position.y,
waypoints[i-1].pose.position.x - waypoints[i].pose.position.x);
yaw -= M_PI;
}
else
{
yaw = atan2(waypoints[i+1].pose.position.y - waypoints[i].pose.position.y,
waypoints[i+1].pose.position.x - waypoints[i].pose.position.x);
}
waypoints[i].pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
}
}
else if (ncol == 4)
{
while (std::getline(ifs, line))
{
waypoints.push_back(parseWaypoint(line, true));
}
}
return waypoints;
}
