void AgentMCTS::create_children_simple(const Board & board, Node * node){
assert(node->children.empty());
node->children.alloc(board.moves_avail(), ctmem);
Node * child = node->children.begin(),
* end = node->children.end();
MoveIterator moveit(board, prunesymmetry);
int nummoves = 0;
for(; !moveit.done() && child != end; ++moveit, ++child){
*child = Node(*moveit);
nummoves++;
}
if(prunesymmetry)
node->children.shrink(nummoves); //shrink the node to ignore the extra moves
else //both end conditions should happen in parallel
assert(moveit.done() && child == end);
PLUS(nodes, node->children.num());
}
int main(int argc, char** argv) {
ros::init(argc, argv, "arm_planning_lib_test"); //node name
ros::NodeHandle nh;
//ArmPlanningInterface interface(&nh);
MoveitPlanningInterface moveit(&nh);
ROS_INFO("setting poses");
Vector7d my_angle;
geometry_msgs::Pose my_pose;
my_angle << -0.18503156094537968, 0.44527797626583865, 0.36021593694382065, 1.827325037963473, 1.0199002550686511, 1.0137709796128629, 1.2701787563643496;
string colors[] = {"red", "blue", "white", "black", "green", "wood"};
my_pose.position.x = 0.627811922278;
my_pose.position.y = -0.00340972086974;
my_pose.position.z = -0.0243679733262;
my_pose.orientation.x = 1;
my_pose.orientation.y = 0;
my_pose.orientation.z = 0;
my_pose.orientation.w = 0;
/*
POSE: X = 0.877945, Y = 0.036200, Z = -0.132033, orientation: X = 0.979358, Y = -0.202119, Z = 0.000723, W = -0.002389
while (ros::ok()) {
ROS_INFO("executing %d", ++count);
interface.moveArmsBack();
ros::Duration(5.0).sleep();
// interface.planPath(my_angle);
// interface.executePath();
// ros::Duration(5.0).sleep();
ROS_INFO("executing %d", ++count);
interface.planPath(interface.pre_grab_pose);
interface.executePath();
ros::Duration(5.0).sleep();
ROS_INFO("executing %d", ++count);
interface.planPath(interface.grab_pose);
interface.executePath();
ros::Duration(5.0).sleep();
ROS_INFO("executing %d", ++count);
interface.takeALook();
ros::Duration(5.0).sleep();
ros::spinOnce();
}*/
//ROS_INFO("total %d colors", colors.size());
bool ret;
while (ros::ok()) {
for (int i = 0; i < 6; ++i)
{
moveit.moveArmsBack();
ros::Duration(5.0).sleep();
ros::spinOnce();
ROS_INFO("executing %s", colors[i].c_str());
ret = moveit.colorMovement((colors[i]),my_pose);
if(ret == false)
ROS_INFO("Color not finished");
ros::Duration(5.0).sleep();
ros::spinOnce();
}
}
/*
moveit.moveArmsBack();
ros::Duration(5.0).sleep();
moveit.planPath(my_pose);
moveit.executePath();
ros::Duration(5.0).sleep();
ros::spinOnce();*/
return 0;
}
int main(int argv, char *args[])
{
// The events for SDL
SDL::Event events;
// and the handler to handle the events
class handler : public SDL::Handle
{
public:
handler() : stop(false)
{
}
bool KeyPressed(SDL::KeySym &keysym)
{
if(keysym.sym == SDLK_ESCAPE)
stop = true;
// Returns true so a call to SDL::Handle::All() isn't tried
// Only to avoid an extra call that would do nothing
return true;
}
// If the class is used as a boolean such as if(handler) do something
operator bool()
{
return stop;
}
private:
bool stop;
} handle;
SDL::Init(SDL_INIT_VIDEO);
atexit(SDL::Quit);
// Check to show that the overloaded operators work first
SDL::Surface One, Two;
One.LoadBMP("bitmap.bmp");
Two = One;
SDL::Surface Three = One;
SDL::Surface Four;
Four = One;
SDL::Surface temp(SDL_LoadBMP("icon.bmp"));
// Should be equal
if(Four == Two)
std::cout << "Passed: Four and Two are equal" << std::endl;
else
{
std::cerr << "Failed: Four and Two are not equal" << std::endl;
exit(EXIT_FAILURE);
}
SDL::Surface icon;
icon.LoadBMP("icon.bmp");
// Should not be equal
if(icon == Four)
{
std::cerr << "Failed: icon and Four are equal" << std::endl;
exit(EXIT_FAILURE);
}
else
std::cout << "Passed: icon and Four not equal" << std::endl;
// Should be equal
if(temp == icon)
std::cout << "Passed: temp now has a copy of icon and they're equal" << std::endl;
else
{
std::cerr << "Failed: temp and icon aren't equal" << std::endl;
exit(EXIT_FAILURE);
}
One = icon;
// Should be equal
if(icon == One)
std::cout << "Passed: One now has a copy of icon and they're equal" << std::endl;
else
{
std::cerr << "Failed: One and icon aren't equal" << std::endl;
exit(EXIT_FAILURE);
}
if(Two != One)
std::cout << "Passed: Two does NOT equal One." << std::endl;
else
{
std::cerr << "Failed: Two DOES equal One." << std::endl;
exit(EXIT_FAILURE);
}
// Now set setup screen with this icon to continue some basic tests.
SDL::Screen screen(icon, NULL);
screen.SetVideoMode(640, 480, 32, SDL_HWSURFACE|SDL_DOUBLEBUF);
// Setup a rectangle to move the sprite
int vx = 1, vy = 1;
int width = icon.GetRect().w, height = icon.GetRect().h;
// Three rects, One for current position, one for pevious position, and one to store the two prior rects to update
SDL::Rect moveit(0, 0, width, height);
SDL::Rect previous = moveit;
SDL::Rect rect[2] = { moveit, previous };
while(!handle)
{
// Fill the previous location with black
screen.FillRect(previous, 0);
// Move the position to draw the rect out of the just draw area
moveit.x += vx;
moveit.y += vy;
// Try to blit the image to the screen
if(!screen.Blit(icon, moveit))
std::cout << "Not blitted: " << SDL::GetError() << std::endl;
// If the image is over the bounds of the screen, reverse the velocity of the object
if(moveit.x+width >= 640)
vx = -1;
if(moveit.x <= 0)
vx = 1;
if(moveit.y+height >= 486)
vy = -1;
if(moveit.y <= 0)
vy = 1;
// Update the two rects in the array to update on the screen
rect[0] = moveit;
rect[1] = previous;
// Finally update the screen
screen.UpdateRects(2, rect);
// Now set previous to the previous location of the sprite (current but that will be moved before blitted
previous = moveit;
// Try for events
events.Poll(handle);
// Delay the execution so it runs more uniform everywhere
Delay();
}
return 0;
}
void main()
{
if(InitGraphics() == -1)
return;
initialisedata();
clearviewport();
rectangle(0,0,(maxx+1)*width+2, (maxy+1)*width+2);
sx = (maxx+1)*width+6;
sy = (maxy+1)*width+2;
int loop = 0;
while(!endgame)
{
loop++;
for (int i = 0; i < NUM_PLAYERS; i++)
{
drawplayer(plist[i]);
}
showscoreboard();
delay(DELAY_INTERVAL);
for (i = 0; i < NUM_PLAYERS; i++)
{
showbox(plist[i]);
}
if (kbhit())
{
handlekeypress();
}
if (endgame)
break;
// 1 to n is computer plaer, 0 is me
for (i = 1; i < NUM_PLAYERS; i++)
{
decidemove(plist[i]);
}
for (i = 0; i < NUM_PLAYERS; i++)
{
adjustdir(plist[i]);
moveit(plist[i]);
}
for (i = 0; i < NUM_PLAYERS; i++)
{
updatescore(plist[i]);
if (plist[i].score >= WINNING_SCORE)
{
endgame = true;
setfillstyle(1, BLUE);
bar(200,120,439,300);
outtextxy(250,200,"GAME OVER");
if (i == 0)
{
outtextxy(250,250,"YOU WIN");
}
else
{
outtextxy(250,250,"YOU LOSE");
}
showscoreboard();
char tr = getch();
}
}
}
}
