/*! \brief Initializes attrubutes using t0_n, rot0_n, L0m_n, order_default_n, move_n and tStep inputs.
*
* Inputs are checked.
*
* #tdelay method is used to set #DelayStore attribute
*
* #position method is used to set #SCposStore attribute
*
* Attributes are set :
*
* \arg #arot =\f$ \frac{2 \cdot \pi}{3} \f$
* \arg #rot :\f$ rot[i] = i \cdot arot \cdot rot0 \textrm{ for i=1,2,3 } \f$
* \arg #crot : \f$ crot[i] = cos(rot_i) \textrm{ for i=1,2,3 } \f$
* \arg #srot : \f$ srot[i=0,1,2] = sin(rot_i) \textrm{ for i=1,2,3 } \f$
* \arg #SCposStore :\f$ SCposStore[i] = position(i,0) \textrm{ for i=1,2,3,4 } \f$
* \arg #DelayStore :
* \f$ \textrm{ for i=1,2,3,4 }
* \left\{ \begin{array}{l}
* DelayStore[i-1] = tdelay(i,i,mod((i+1),3)+1,2,0) \\
* DelayStore[i+2] = tdelay(i,i,mod(i,3)+1,2,0)
* \end{array} \right. \f$
* \arg #tRangeStorePos = #tRangeStorePos_default
* \arg #tRangeStoreDelay = \f$ min(tStep,tRangeStoreDelay\_default) \f$
*/
void GeometryMLDC::init(double t0_n, double rot0_n, double L0m_n, int order_default_n, int move_n, double tStep)
{
//cout << "Create orbits : MLDC ..." << endl;
initGlobal(t0_n, rot0_n, L0m_n, order_default_n, move_n, tStep);
Approx = move_n;
arot=2./3.*M_PI;
rot.resize(3);
crot.resize(3);
srot.resize(3);
for(int nb=1; nb<=3; nb++){
rot[nb-1]=(nb-1)*arot+rot0;
crot[nb-1]=cos(rot[nb-1]);
srot[nb-1]=sin(rot[nb-1]);
}
e_mldc = 0.00964838;
L0s = L0m/c_SI;
sqrt_3 = sqrt(3.0);
i32 = 1.0/32.0;
r1532 = 15.0/32.0;
pi3o2 = 3.0*M_PI/2.0;
pi2o3 = 2.0*M_PI/3.0;
pi4o3 = 4.0*M_PI/3.0;
for(int i=1; i<4; i++){
SCposStore[i-1] = position(i,0.0);
}
for(int i=1; i<4; i++){
DelayStore[i-1] = tdelay(i,(i+1)%3+1,2,0.0);
//cout << " L" << i << (i+1)%3+1<< endl;
DelayStore[i+2] = tdelay(i,i%3+1,2,0.0);
//cout << " L" << i << i%3+1 << endl;
}
//cout << " --> OK" << endl;
}
int main( int argc, char **argv )
{
PomdpToolsProgOptions tool_options;
PomdpSolveParams solve_params;
tool_options = POMDP_TOOLS_OPTS_create( argc, argv );
gStdErrFile = stderr;
solve_params = newPomdpSolveParams();
/* Manually set these. */
gNumStates = tool_options->states;
gNumObservations = tool_options->obs;
/*
CF_printf( POMDP_TOOLS_OPTS_toConfigFile( tool_options ) );
*/
switch( tool_options->tool )
{
case POMDP_TOOLS_OPTS_Tool_compare_alphas:
if (( tool_options->states < 1 )
|| ( strcmp( tool_options->alpha1, "" ) == 0 )
|| ( strcmp( tool_options->alpha2, "" ) == 0 )
|| ( strcmp( tool_options->result_filename, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s, %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_ALPHA1_STR,
POMDP_TOOLS_OPTS_ARG_ALPHA2_STR,
POMDP_TOOLS_OPTS_ARG_O_STR,
POMDP_TOOLS_OPTS_ARG_STATES_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
UTIL_compareAlphaFiles( tool_options->alpha1,
tool_options->alpha2,
tool_options->epsilon,
tool_options->result_filename );
break;
case POMDP_TOOLS_OPTS_Tool_belief_alpha_compare:
if (( tool_options->states < 1 )
|| ( strcmp( tool_options->alpha1, "" ) == 0 )
|| ( strcmp( tool_options->alpha2, "" ) == 0 )
|| ( strcmp( tool_options->belief, "" ) == 0 )
|| ( strcmp( tool_options->result_filename, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s, %s, %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_ALPHA1_STR,
POMDP_TOOLS_OPTS_ARG_ALPHA2_STR,
POMDP_TOOLS_OPTS_ARG_BELIEF_STR,
POMDP_TOOLS_OPTS_ARG_O_STR,
POMDP_TOOLS_OPTS_ARG_STATES_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
UTIL_compareAlphaFilesUsingBeliefs( tool_options->alpha1,
tool_options->alpha2,
tool_options->belief,
tool_options->epsilon,
tool_options->result_filename );
break;
case POMDP_TOOLS_OPTS_Tool_pg_eval:
if (( strcmp( tool_options->pomdp, "" ) == 0 )
|| ( strcmp( tool_options->pg1, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_PG1_STR,
POMDP_TOOLS_OPTS_ARG_POMDP_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
/* See the pg-search-source/pg-eval-main.c file */
initializePomdp( tool_options->pomdp,
1e-5 );
PGE_main( tool_options->pg1 );
cleanUpPomdp();
break;
case POMDP_TOOLS_OPTS_Tool_pg_relink:
if (( strcmp( tool_options->pomdp, "" ) == 0 )
|| ( strcmp( tool_options->alpha1, "" ) == 0 )
|| ( strcmp( tool_options->alpha2, "" ) == 0 )
|| ( strcmp( tool_options->pg1, "" ) == 0 )
|| ( strcmp( tool_options->result_filename, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s, %s, %s and %s..\n",
POMDP_TOOLS_OPTS_ARG_ALPHA1_STR,
POMDP_TOOLS_OPTS_ARG_ALPHA2_STR,
POMDP_TOOLS_OPTS_ARG_POMDP_STR,
POMDP_TOOLS_OPTS_ARG_O_STR,
POMDP_TOOLS_OPTS_ARG_PG1_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
initializePomdp( tool_options->pomdp,
1e-5 );
UTIL_relinkPolicyGraph( tool_options->alpha1,
tool_options->pg1,
tool_options->alpha2,
tool_options->result_filename );
cleanUpPomdp();
break;
case POMDP_TOOLS_OPTS_Tool_map_beliefs:
if ( (tool_options->states < 1 )
|| ( strcmp( tool_options->belief, "" ) == 0 )
|| ( strcmp( tool_options->alpha1, "" ) == 0 )
|| ( strcmp( tool_options->result_filename, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s, %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_BELIEF_STR,
POMDP_TOOLS_OPTS_ARG_ALPHA1_STR,
POMDP_TOOLS_OPTS_ARG_O_STR,
POMDP_TOOLS_OPTS_ARG_STATES_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
UTIL_mapBeliefList( tool_options->belief,
tool_options->alpha1,
tool_options->epsilon,
tool_options->result_filename );
break;
case POMDP_TOOLS_OPTS_Tool_pg_isomorphism:
if ( (tool_options->obs < 1 )
|| ( strcmp( tool_options->pg1, "" ) == 0 )
|| ( strcmp( tool_options->pg2, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_PG1_STR,
POMDP_TOOLS_OPTS_ARG_PG2_STR,
POMDP_TOOLS_OPTS_ARG_OBS_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
fprintf( stderr, "This feature not yet implemented\n" );
exit( -1 );
break;
case POMDP_TOOLS_OPTS_Tool_purge_alphas:
if ( (tool_options->states < 1 )
|| ( strcmp( tool_options->alpha1, "" ) == 0 )
|| ( strcmp( tool_options->result_filename, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_ALPHA1_STR,
POMDP_TOOLS_OPTS_ARG_O_STR,
POMDP_TOOLS_OPTS_ARG_STATES_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
initCommon();
initGlobal();
initLpInterface( solve_params );
UTIL_purgeAlphaFile( tool_options->alpha1,
tool_options->result_filename,
solve_params );
break;
case POMDP_TOOLS_OPTS_Tool_sort_alphas:
if ( (tool_options->states < 1 )
|| ( strcmp( tool_options->alpha1, "" ) == 0 )
|| ( strcmp( tool_options->result_filename, "" ) == 0 ))
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s, %s and %s.\n",
POMDP_TOOLS_OPTS_ARG_ALPHA1_STR,
POMDP_TOOLS_OPTS_ARG_O_STR,
POMDP_TOOLS_OPTS_ARG_STATES_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
UTIL_sortAlphaFile( tool_options->alpha1,
tool_options->result_filename );
break;
case POMDP_TOOLS_OPTS_Tool_update_beliefs:
if ( strcmp( tool_options->pomdp, "" ) == 0 )
{
fprintf( stderr, "Missing required arguments(s) for '%s'\n",
POMDP_TOOLS_OPTS_Tool_Str[tool_options->tool] );
fprintf( stderr, "Need: %s.\n",
POMDP_TOOLS_OPTS_ARG_POMDP_STR );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
}
initializePomdp( tool_options->pomdp,
1e-5 );
UTIL_doBeliefUpdates();
if ( gInitialBelief == NULL )
{
fprintf( stderr,
"POMDP file '%s' must specify a starting belief state\n",
tool_options->pomdp );
fprintf( stderr, "Aborted.\n" );
exit( -1 );
}
cleanUpPomdp();
break;
default:
fprintf( stderr, "Unreckognized tool option\n" );
POMDP_TOOLS_OPTS_showUsageBrief( stderr, argv[0] );
exit( -1 );
} /* switch param->tool */
/* This will also take care of deallocating the 'opts' structure. */
destroyPomdpSolveParams( solve_params );
return 0;
} /* main */
/*
* Go evaluator main program
*/
int main(int argc, char **argv) {
int narg;
#ifdef HAVE_LOCALECONV
setlocale(LC_ALL,""); /* set up locale */
#endif
#ifdef LOCALEDIR
bindtextdomain(PACKAGE,LOCALEDIR);
textdomain(PACKAGE);
#endif
initLogfile((char *) "-");
initFileIo(); /* Set up special file handling */
strMsg(entryPoint, NumberOf(entryPoint), "lo.boot@__boot"); /* standard entry point */
if ((narg = getOptions(argc, argv)) < 0) {
outMsg(logFile, _("usage: %s [-v] [-L log] [-g host:port] [-V] [-b boot:ver] [-m entry] [-r repo] [-d wd]"
" [-h sizeK] [-s sizeK] [-d rootdir] args ...\n"), argv[0]);
exit(1);
}
// Set up repository directory
if (uniIsLit(repoDir, "")) { // overridden?
char *dir = getenv("LO_DIR"); /* pick up the installation directory */
if (dir == NULL)
dir = LODIR; /* Default installation path */
uniCpy(repoDir, NumberOf(repoDir), dir);
}
// set up working directory
if (uniIsLit(loCWD, "")) {
char cbuff[MAXPATHLEN];
char *cwd = getcwd(cbuff, NumberOf(cbuff)); /* compute current starting directory */
if (cwd == NULL)
syserr("cant determine current directory");
else
strMsg(loCWD, NumberOf(loCWD), "%s/", cwd);
}
if (loadManifest(repoDir) != Ok) {
outMsg(logFile, "error in loading repository from %s", repoDir);
exit(99);
}
/* IMPORTANT -- Keep the order of these set up calls */
initGlobal(initHeapSize); /* start up the global space */
initClass(); /* Initialize the class handlers */
initPrograms(); /* Initialize program handling */
initDict(); /* Start up the dictionaries */
install_escapes(); /* Initialize the escape table */
initFiles(); /* initialize file tables */
init_args(argv, argc, narg); /* Initialize the argument list */
init_time(); /* Initialize time stuff */
setupSignals();
#ifdef EXECTRACE
if (traceCount)
atexit(dumpInsCount);
#endif
bootstrap(entryPoint, bootPkg, bootVer);
return EXIT_SUCCEED; /* exit the lo system cleanly */
}
