WaySublineMatchString MaximalNearestSublineMatcher::findMatch(const ConstOsmMapPtr &map,
const ConstWayPtr& way1, const ConstWayPtr &way2, double &score, Meters maxRelevantDistance) const
{
score = 0;
Meters mrd = maxRelevantDistance == -1 ? way1->getCircularError() + way2->getCircularError() :
maxRelevantDistance;
vector<long> wayIds;
wayIds.push_back(way1->getId());
wayIds.push_back(way2->getId());
OsmMapPtr mapCopy(map->copyWays(wayIds));
WayPtr way1NonConst = mapCopy->getWay(way1->getId());
WayPtr way2NonConst = mapCopy->getWay(way2->getId());
MaximalNearestSubline mns1(
mapCopy, way1NonConst, way2NonConst, _minSplitSize, mrd, _maxRelevantAngle, _headingDelta);
// use the maximal nearest subline code to find the best subline
std::vector<WayLocation> interval1 = mns1.getInterval();
if (!interval1[0].isValid() || !interval1[1].isValid() ||
interval1[0] == interval1[1])
{
// if the interval isn't valid then return an invalid result.
return WaySublineMatchString();
}
_snapToEnds(map, interval1);
WayPtr subline1 = WaySubline(interval1[0], interval1[1]).toWay(mapCopy);
MaximalNearestSubline mns2(mapCopy, way2NonConst, subline1, _minSplitSize, -1, -1, _headingDelta);
std::vector<WayLocation> interval2 = mns2.getInterval();
if (!interval2[0].isValid() || !interval2[1].isValid() ||
interval2[0] == interval2[1])
{
return WaySublineMatchString();
}
_snapToEnds(map, interval2);
WaySublineMatch match = WaySublineMatch(WaySubline(interval1[0], interval1[1]),
WaySubline(interval2[0], interval2[1]));
if (subline1->getNodeCount() > 1)
{
shared_ptr<LineString> ls = ElementConverter(mapCopy).convertToLineString(subline1);
if (ls->isValid())
{
score = ls->getLength();
}
}
vector<WaySublineMatch> v;
// switch the subline match to reference a different map.
v.push_back(WaySublineMatch(match, map));
return WaySublineMatchString(v);
}
/* Get IL to native offsets map */
HRESULT
GetMethodNativeMap(MethodDesc* methodDesc,
ULONG32* numMap,
DebuggerILToNativeMap** map)
{
// Use the DebugInfoStore to get IL->Native maps.
// It doesn't matter whether we're jitted, ngenned etc.
DebugInfoRequest request;
TADDR nativeCodeStartAddr = PCODEToPINSTR(methodDesc->GetNativeCode());
request.InitFromStartingAddr(methodDesc, nativeCodeStartAddr);
// Bounds info.
ULONG32 countMapCopy;
NewHolder<ICorDebugInfo::OffsetMapping> mapCopy(NULL);
BOOL success = DebugInfoManager::GetBoundariesAndVars(request,
DebugInfoStoreNew,
NULL, // allocator
&countMapCopy,
&mapCopy,
NULL,
NULL);
if (!success)
{
return E_FAIL;
}
// Need to convert map formats.
*numMap = countMapCopy;
*map = new (nothrow) DebuggerILToNativeMap[countMapCopy];
if (!*map)
{
return E_OUTOFMEMORY;
}
ULONG32 i;
for (i = 0; i < *numMap; i++)
{
(*map)[i].ilOffset = mapCopy[i].ilOffset;
(*map)[i].nativeStartOffset = mapCopy[i].nativeOffset;
if (i > 0)
{
(*map)[i - 1].nativeEndOffset = (*map)[i].nativeStartOffset;
}
(*map)[i].source = mapCopy[i].source;
}
if (*numMap >= 1)
{
(*map)[i - 1].nativeEndOffset = 0;
}
return S_OK;
}
bool FlatPointCloudVisualization::visualize(const grid_map::GridMap& map)
{
if (!isActive()) return true;
sensor_msgs::PointCloud2 pointCloud;
grid_map::GridMap mapCopy(map);
mapCopy.add("flat", height_);
grid_map::GridMapRosConverter::toPointCloud(mapCopy, "flat", pointCloud);
publisher_.publish(pointCloud);
return true;
}
void InspectorController::pruneResources(ResourcesMap* resourceMap, DocumentLoader* loaderToKeep)
{
ASSERT_ARG(resourceMap, resourceMap);
ResourcesMap mapCopy(*resourceMap);
ResourcesMap::iterator end = mapCopy.end();
for (ResourcesMap::iterator it = mapCopy.begin(); it != end; ++it) {
InspectorResource* resource = (*it).second.get();
if (resource == m_mainResource)
continue;
if (!loaderToKeep || resource->loader != loaderToKeep) {
removeResource(resource);
if (windowVisible() && resource->scriptObject)
removeScriptResource(resource);
}
}
}
void MapStatus::setCollectables(std::map<int, bool> collectables)
{
mapCopy(&collectables,'c');
}
void MapStatus::setMinibosses(std::map<int, bool> minibosses)
{
mapCopy(&minibosses,'m');
}
void MapStatus::setPuzzles(std::map<int, bool> puzzles)
{
mapCopy(&puzzles,'p');
}
void MapStatus::setDoors(std::map<int, bool> doors)
{
mapCopy(&doors,'d');
}
