int main() {
logmath_t *logmath;
ngram_model_t *model;
FILE *fp;
char *line = NULL, *grapheme, *phoneme, *predicted_phoneme;
int32 different_word_count = 0, fit_count = 0;
size_t len = 0;
err_set_logfp(NULL);
logmath = logmath_init(1.0001f, 0, 0);
model = ngram_model_read(NULL, "cmudict-en-us.dmp", NGRAM_AUTO, logmath);
fp = fopen("cmudict-en-us.dict", "r");
while (getline(&line, &len, fp) != -1) {
grapheme = strtok(line, " ");
phoneme = strtok(NULL, "\n");
if (strstr(grapheme, "(")) {
grapheme = strtok(grapheme, "(");
} else {
different_word_count++;
}
predicted_phoneme = g2p(model, grapheme, 100);
if (predicted_phoneme && strcmp(phoneme, predicted_phoneme) == 0) {
fit_count++;
}
ckd_free(predicted_phoneme);
}
printf("%d %d %f\n", fit_count, different_word_count, fit_count * 1.0 / different_word_count);
ckd_free(grapheme);
fclose(fp);
ngram_model_free(model);
logmath_free(logmath);
}
/*solution = [1-8]*/
int ikKUKAArmSolverUnique(double fixedAngle, double aArray[7], double alphaArray[7],
double dArray[7], double thetaArray[7], double posArray[4][4],
double phiArray[7], int arm, int solution) {
int phiValid = 1;
double n1, r13, r23, r33, r21, r22, de, cosEta4, x, y, z, g1e, g2e;
if(solution > 8 || solution < 1){
return -1; //incorrect parameters
}
phiArray[2] = fixedAngle; // 2
x = posArray[0][3];
y = posArray[1][3];
z = posArray[2][3];
cosEta4 = coseta4s(x, y, z, dArray[2], dArray[4]);
if (cosEta4 * cosEta4 <= 0.10001e1) {
if (0.1e1 < cosEta4 * cosEta4) {
cosEta4 = 0.1e1;
// return -4;
}
phiArray[3] = solution < 5 ? acos(cosEta4) : -acos(cosEta4); // 3
} else {
phiValid = 0;
return 0;
}
//1
if (solution < 5){
de = denomEta2Solve(z, dArray[2], dArray[4], phiArray[2], phiArray[3], arm);
if (de == 0.0e0) {
phiArray[1] = 0.3141592654e1;
return -2;
} else {
n1 = numerEta2Solve1(z, dArray[2], dArray[4], phiArray[2], phiArray[3]);
if (isnan(n1) == 0) {
if(solution == 1 || solution == 2){ //sol 1 or 2
phiArray[1] = 0.2e1 * atan(n1 / de);
}else{// sol 3 or 4
phiArray[1] = 0.2e1 * atan(numerEta2Solve2(z, dArray[2], dArray[4], phiArray[2], phiArray[3]) / de);
}
} else {
phiValid = 0;
return 0;
}
}
}else{
de = denomEta2Solve(z, dArray[2], dArray[4], phiArray[2], phiArray[3], arm);
if (de == 0.0e0) {
phiArray[1] = 0.3141592654e1;
return -2;
} else {
n1 = numerEta2Solve1(z, dArray[2], dArray[4], phiArray[2], phiArray[3]);
if (isnan(n1) == 0) {
if (solution == 5 || solution == 6){// sol 5 or 6
phiArray[1] = 0.2e1 * atan(n1 / de);
}else{ //sol 7 or 8
phiArray[1] = 0.2e1 * atan(numerEta2Solve2(z, dArray[2], dArray[4], phiArray[2], phiArray[3]) / de);
}
} else {
phiValid = 0;
return 0;
}
}
}
if (x == 0.0e0 && y == 0.0e0) {
phiArray[0] = 0.0e0; // 0
return -3;
}else{
if (phiValid != 0){
g1e = g1p(dArray[2], dArray[4], phiArray[1], phiArray[2], phiArray[3]);
g2e = g2p(dArray[2], dArray[4], phiArray[1], phiArray[2], phiArray[3]);
phiArray[0] = atan2(g1e * y * arm - g2e * x, g1e * x + g2e * y * arm); // 0
r13 = r13eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0], phiArray[1], phiArray[2], phiArray[3], arm);
r23 = r23eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0], phiArray[1], phiArray[2], phiArray[3], arm);
r33 = r33eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0], phiArray[1], phiArray[2], phiArray[3], arm);
r21 = r21eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0], phiArray[1], phiArray[2], phiArray[3], arm);
r22 = r22eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0], phiArray[1], phiArray[2], phiArray[3], arm);
if (solution == 1 || solution == 3 || solution == 5 || solution == 7){// sol = 1 or 3 or 5 or 7
phiArray[5] = eta6SolutionA(r13, r23, r33); // 5
}else{// sol = 2 or 4 or 6 or 8
phiArray[5] = eta6SolutionB(r13, r23, r33); // 5
}
phiArray[4] = eta5Solution(r13, r33, phiArray[5]); // 4
phiArray[6] = eta7Solution(r21, r22, phiArray[5], arm); // 6
}
}
return 1;
}
/*left arm = -1, for right arm = 1*/
int ikKUKAArmSolver(double fixedAngle, double aArray[7], double alphaArray[7],
double dArray[7], double thetaArray[7], double posArray[4][4],
double phiArray[8][7], int phiArrayValid[8], int arm) {
int analyticError, i;
double n1, r13, r23, r33, r21, r22, de, cosEta4, x, y, z, g1e, g2e;
phiArray[0][2] = fixedAngle;
phiArray[1][2] = fixedAngle;
phiArray[2][2] = fixedAngle;
phiArray[3][2] = fixedAngle;
phiArray[4][2] = fixedAngle;
phiArray[5][2] = fixedAngle;
phiArray[6][2] = fixedAngle;
phiArray[7][2] = fixedAngle;
for (i = 1; i <= 8; i++)
phiArrayValid[i - 1] = 1;
analyticError = 0;
x = posArray[0][3];
y = posArray[1][3];
z = posArray[2][3];
cosEta4 = coseta4s(x, y, z, dArray[2], dArray[4]);
if (cosEta4 * cosEta4 <= 0.10001e1) {
if (0.1e1 < cosEta4 * cosEta4)
cosEta4 = 0.1e1;
phiArray[0][3] = acos(cosEta4);
phiArray[1][3] = phiArray[0][3];
phiArray[2][3] = phiArray[0][3];
phiArray[3][3] = phiArray[0][3];
phiArray[4][3] = -phiArray[0][3];
phiArray[5][3] = phiArray[4][3];
phiArray[6][3] = phiArray[4][3];
phiArray[7][3] = phiArray[4][3];
} else {
for (i = 1; i <= 8; i++)
phiArrayValid[i - 1] = 0;
analyticError = 1;
return(analyticError);
}
de = denomEta2Solve(z, dArray[2], dArray[4], phiArray[0][2], phiArray[0][3], arm);
if (de == 0.0e0) {
phiArray[0][1] = 0.3141592654e1;
phiArray[1][1] = 0.3141592654e1;
phiArray[2][1] = 0.3141592654e1;
phiArray[3][1] = 0.3141592654e1;
} else {
n1 = numerEta2Solve1(z, dArray[2], dArray[4], phiArray[0][2], phiArray[0][3]);
if (isnan(n1) == 0) {
phiArray[0][1] = 0.2e1 * atan(n1 / de);
phiArray[1][1] = phiArray[0][1];
phiArray[2][1] = 0.2e1 * atan(numerEta2Solve2(z, dArray[2], dArray[4], phiArray[2][2], phiArray[2][3]) / de);
phiArray[3][1] = phiArray[2][1];
} else {
phiArrayValid[0] = 0;
phiArrayValid[1] = 0;
phiArrayValid[2] = 0;
phiArrayValid[3] = 0;
}
}
de = denomEta2Solve(z, dArray[2], dArray[4], phiArray[4][2], phiArray[4][3], arm);
if (de == 0.0e0) {
phiArray[4][1] = 0.3141592654e1;
phiArray[5][1] = 0.3141592654e1;
phiArray[6][1] = 0.3141592654e1;
phiArray[7][1] = 0.3141592654e1;
} else {
n1 = numerEta2Solve1(z, dArray[2], dArray[4], phiArray[4][2], phiArray[4][3]);
if (isnan(n1) == 0) {
phiArray[4][1] = 0.2e1 * atan(n1 / de);
phiArray[5][1] = phiArray[4][1];
phiArray[6][1] = 0.2e1 * atan(numerEta2Solve2(z, dArray[2], dArray[4], phiArray[6][2], phiArray[6][3]) / de);
phiArray[7][1] = phiArray[6][1];
} else {
phiArrayValid[4] = 0;
phiArrayValid[5] = 0;
phiArrayValid[6] = 0;
phiArrayValid[7] = 0;
}
}
if (x == 0.0e0 && y == 0.0e0) {
phiArray[0][0] = 0.0e0;
phiArray[1][0] = 0.0e0;
phiArray[2][0] = 0.0e0;
phiArray[3][0] = 0.0e0;
phiArray[4][0] = 0.0e0;
phiArray[5][0] = 0.0e0;
phiArray[6][0] = 0.0e0;
phiArray[7][0] = 0.0e0;
} else {
if (phiArrayValid[0] != 0) {
g1e = g1p(dArray[2], dArray[4], phiArray[0][1], phiArray[0][2], phiArray[0][3]);
g2e = g2p(dArray[2], dArray[4], phiArray[0][1], phiArray[0][2], phiArray[0][3]);
phiArray[0][0] = atan2(g1e * y * arm - g2e * x, g1e * x + g2e * y * arm);
phiArray[1][0] = phiArray[0][0];
g1e = g1p(dArray[2], dArray[4], phiArray[2][1], phiArray[2][2], phiArray[2][3]);
g2e = g2p(dArray[2], dArray[4], phiArray[2][1], phiArray[2][2], phiArray[2][3]);
phiArray[2][0] = atan2(g1e * y * arm - g2e * x, g1e * x + g2e * y * arm);
phiArray[3][0] = phiArray[2][0];
r13 = r13eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0][0], phiArray[0][1], phiArray[0][2], phiArray[0][3], arm);
r23 = r23eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0][0], phiArray[0][1], phiArray[0][2], phiArray[0][3], arm);
r33 = r33eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0][0], phiArray[0][1], phiArray[0][2], phiArray[0][3], arm);
r21 = r21eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0][0], phiArray[0][1], phiArray[0][2], phiArray[0][3], arm);
r22 = r22eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[0][0], phiArray[0][1], phiArray[0][2], phiArray[0][3], arm);
phiArray[0][5] = eta6SolutionA(r13, r23, r33);
phiArray[0][4] = eta5Solution(r13, r33, phiArray[0][5]);
phiArray[0][6] = eta7Solution(r21, r22, phiArray[0][5], arm);
phiArray[1][5] = eta6SolutionB(r13, r23, r33);
phiArray[1][4] = eta5Solution(r13, r33, phiArray[1][5]);
phiArray[1][6] = eta7Solution(r21, r22, phiArray[1][5], arm);
r13 = r13eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[2][0], phiArray[2][1], phiArray[2][2], phiArray[2][3], arm);
r23 = r23eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[2][0], phiArray[2][1], phiArray[2][2], phiArray[2][3], arm);
r33 = r33eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[2][0], phiArray[2][1], phiArray[2][2], phiArray[2][3], arm);
r21 = r21eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[2][0], phiArray[2][1], phiArray[2][2], phiArray[2][3], arm);
r22 = r22eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[2][0], phiArray[2][1], phiArray[2][2], phiArray[2][3], arm);
phiArray[2][5] = eta6SolutionA(r13, r23, r33);
phiArray[2][4] = eta5Solution(r13, r33, phiArray[2][5]);
phiArray[2][6] = eta7Solution(r21, r22, phiArray[2][5], arm);
phiArray[3][5] = eta6SolutionB(r13, r23, r33);
phiArray[3][4] = eta5Solution(r13, r33, phiArray[3][5]);
phiArray[3][6] = eta7Solution(r21, r22, phiArray[3][5], arm);
}
if (phiArrayValid[4] != 0) {
g1e = g1p(dArray[2], dArray[4], phiArray[4][1], phiArray[4][2], phiArray[4][3]);
g2e = g2p(dArray[2], dArray[4], phiArray[4][1], phiArray[4][2], phiArray[4][3]);
phiArray[4][0] = atan2(g1e * y * arm - g2e * x, g1e * x + g2e * y * arm);
phiArray[5][0] = phiArray[4][0];
g1e = g1p(dArray[2], dArray[4], phiArray[6][1], phiArray[6][2], phiArray[6][3]);
g2e = g2p(dArray[2], dArray[4], phiArray[6][1], phiArray[6][2], phiArray[6][3]);
phiArray[6][0] = atan2(g1e * y * arm - g2e * x, g1e * x + g2e * y * arm);
phiArray[7][0] = phiArray[6][0];
r13 = r13eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[4][0], phiArray[4][1], phiArray[4][2], phiArray[4][3], arm);
r23 = r23eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[4][0], phiArray[4][1], phiArray[4][2], phiArray[4][3], arm);
r33 = r33eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[4][0], phiArray[4][1], phiArray[4][2], phiArray[4][3], arm);
r21 = r21eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[4][0], phiArray[4][1], phiArray[4][2], phiArray[4][3], arm);
r22 = r22eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[4][0], phiArray[4][1], phiArray[4][2], phiArray[4][3], arm);
phiArray[4][5] = eta6SolutionA(r13, r23, r33);
phiArray[4][4] = eta5Solution(r13, r33, phiArray[4][5]);
phiArray[4][6] = eta7Solution(r21, r22, phiArray[4][5], arm);
phiArray[5][5] = eta6SolutionB(r13, r23, r33);
phiArray[5][4] = eta5Solution(r13, r33, phiArray[5][5]);
phiArray[5][6] = eta7Solution(r21, r22, phiArray[5][5], arm);
r13 = r13eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[6][0], phiArray[6][1], phiArray[6][2], phiArray[6][3], arm);
r23 = r23eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[6][0], phiArray[6][1], phiArray[6][2], phiArray[6][3], arm);
r33 = r33eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[6][0], phiArray[6][1], phiArray[6][2], phiArray[6][3], arm);
r21 = r21eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[6][0], phiArray[6][1], phiArray[6][2], phiArray[6][3], arm);
r22 = r22eval(posArray[0][0], posArray[0][1], posArray[0][2], posArray[1][0], posArray[1][1], posArray[1][2], posArray[2][0], posArray[2][1], posArray[2][2], phiArray[6][0], phiArray[6][1], phiArray[6][2], phiArray[6][3], arm);
phiArray[6][5] = eta6SolutionA(r13, r23, r33);
phiArray[6][4] = eta5Solution(r13, r33, phiArray[6][5]);
phiArray[6][6] = eta7Solution(r21, r22, phiArray[6][5], arm);
phiArray[7][5] = eta6SolutionB(r13, r23, r33);
phiArray[7][4] = eta5Solution(r13, r33, phiArray[7][5]);
phiArray[7][6] = eta7Solution(r21, r22, phiArray[7][5], arm);
}
}
return(analyticError);
}
m2::PointD convert_point(m2::PointD const & pt) const
{
return g2p(pt);
}
