task main() { initializeRobot(); waitForStart(); // Wait for the beginning of autonomous phase. liftMove(50, 1000); moveDist(115, 100, SPEED);//Moves forward turnDeg(45, TURN_RIGHT, 100, SPEED);//Turns right moveDist(47, 100, SPEED);//Moves forward }
float ScoreMove(int j1, int j2, int obs) { if (j1 == j2) { float trans = pStay(j1); float em = stayDist(obs, j1); return log(trans * em); } else if (j1 + 1 == j2) { float ps = pStay(j1); float pm = (1.0f - ps) * pMerge(j1); float trans = 1.0f - ps - pm; float em = moveDist(obs, j1); return log(trans * em); } else if (j1 + 2 == j2) { float ps = pStay(j1); float pm = (1.0f - ps) * pMerge(j1); if (obs == templateBase(j1)) return log(pm); else return NEG_INF; } return NEG_INF; }
float Inc(int i, int j) const { assert(0 <= j && j < TemplateLength() && 0 <= i && i < ReadLength() ); float ps = pStay(j); float pm = (1.0f - ps) * pMerge(j); float trans = 1.0f - ps - pm; float em = moveDist(features_.Channel[i], j); return log(trans * em); }
float Del(int i, int j) const { assert(0 <= j && j < TemplateLength() && 0 <= i && i <= ReadLength() ); if ( (!PinStart() && i == 0) || (!PinEnd() && i == ReadLength()) ) { return 0.0f; } else { float ps = pStay(j); float pm = (1.0f - ps) * pMerge(j); float trans = 1.0f - ps - pm; float em = moveDist(0, j); return log(trans * em); } }
void CGUITextureCacheBrowser::updateImageList() { if (!Panel) return; video::IVideoDriver* Driver = Environment->getVideoDriver(); // clear images u32 i; for (i=0; i<Images.size(); ++i) { Images[i]->drop(); Images[i]->remove(); } Images.clear(); u32 count = (u32)Driver->getTextureCount(); s32 h = Panel->getClientArea().getWidth()-10; s32 hw = h/2; core::rect<s32> pos(Panel->getClientArea().getCenter().X - Panel->getAbsolutePosition().UpperLeftCorner.X - hw, 5, Panel->getClientArea().getCenter().X - Panel->getAbsolutePosition().UpperLeftCorner.X + hw, h+5); core::position2di moveDist(0, h+5); for (u32 i=0; i<count; ++i) { core::stringw details; video::ITexture* tex = Driver->getTextureByIndex(i); details = L"File name: "; details += tex->getName().c_str(); details += L"\nFormat: "; video::ECOLOR_FORMAT cf = tex->getColorFormat(); bool alpha = false; switch (cf) { case video::ECF_A1R5G5B5: details += L"A1R5G5B5 (16-bit with 1-bit alpha channel)\n"; alpha = true; break; case video::ECF_R5G6B5: details += L"R5G6B5 (16-bit, no alpha channel)\n"; break; case video::ECF_R8G8B8: details += L"R8G8B8 (16-bit, no alpha channel)\n"; break; case video::ECF_A8R8G8B8: details += L"R8G8B8 (32-bit with 8-bit alpha channel)\n"; alpha = true; break; default: details += L"Unknown\n"; } core::dimension2di osize = tex->getOriginalSize(); core::dimension2di size = tex->getOriginalSize(); details += "Size: "; details += size.Width; details += "x"; details += size.Height; if (osize != size) { details += "\nOriginal Size: "; details += osize.Width; details += "x"; details += osize.Height; } details += L"\nMip-maps: "; if (tex->hasMipMaps()) details += L"Yes\n"; else details += L"No\n"; IGUIImage* img = Environment->addImage(tex, core::position2di(1,1), alpha, Panel, i); img->grab(); Images.push_back(img); img->setRelativePosition(pos); img->setToolTipText(details.c_str()); img->setScaleImage(true); img->setColor( SelectedTexture == i ? video::SColor(255,255,255,255) : video::SColor(128,128,128,128) ); pos = pos + moveDist; } }