void Mesh::objFileStructure2(const char* mtlfilename){
cout<<mtlfilename<<endl;
ifstream mtl(mtlfilename,ios::in);
if(!mtl){
cerr<<"File could not be found."<<endl;
exit(1);
}
string materialLine="";
string materialToken="";
while(!mtl.eof()){
if(materialToken!="newmtl"){
getline(mtl, materialLine);
std::stringstream os1(materialLine);
os1>>materialToken;
}
if(materialToken =="newmtl"){
std::stringstream os2(materialLine);
os2>>materialToken;//new mtl
os2>>materialToken;//material
string thematerial = materialToken;
float red = 0.0776f;
float green = 0.2571f;
float blue = 0.2041f;
do{
if(mtl.eof()){
break;
}
if(!mtl.eof()){
getline(mtl, materialLine);
// cout<<"lines before newmtl ..."<<materialLine<<endl;
std::stringstream os3(materialLine);
os3>>materialToken;
if(materialToken=="Kd"){
os3>>materialToken;
//cout<<"red "<<materialToken<<endl;
red = atof(materialToken.c_str());
os3>>materialToken;
//cout<<"green "<<materialToken<<endl;
green = atof(materialToken.c_str());
os3>>materialToken;
// cout<<"blue "<<materialToken<<endl;
blue = atof(materialToken.c_str());
}
}
void testCopyAndThenDelete()
{
THREE_TIMERS( os1 );
SmartPointerList<QTimer>* os2 = new SmartPointerList<QTimer>( os1 );
SmartPointerList<QTimer> os3( *os2 );
delete os2;
QCOMPARE( os1.count(), 3 );
QCOMPARE( os3.count(), 3 );
delete os1[1];
QCOMPARE( os1.count(), 2 );
QCOMPARE( os3.count(), 2 );
}
QuadcopterPlanner::QuadcopterPlanner():
ph_("~"){
pose_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("/app/quadcmdpose",1);
status_pub_ = nh_.advertise<actionlib_msgs::GoalStatus>("/app/plannersts",1);
bool prmAvail = false;
std::string param;
if(ph_.getParam("wayPtThreshold",param)){
std::stringstream os1(param.c_str());
os1 >> wayPtThreshold_.x>> wayPtThreshold_.y>> wayPtThreshold_.z;
if(ph_.getParam("minThreshold",param)){
std::stringstream os2(param.c_str());
os2 >> min_threshold.x>> min_threshold.y>> min_threshold.z;
if(ph_.getParam("step",param)){
std::stringstream os3(param.c_str());
os3 >> step_.x>> step_.y>> step_.z;
if(ph_.getParam("proximityThreshold",proxityData_.threshold)){
if(ph_.getParam("avoidStep",collisionData_.avoidStep)){
std::cout << "Parameter read from launch file!" << std::endl;
prmAvail=true;
}
}
}
int main(int argc, char *argv[]) {
ParamProgram *par = new ParamProgram();
char fileName[300];
if(argc != 2){
cout << "ERRORR !! " << endl;
cout << "buildDL_LZ's usage requires the Properties File as parameter !! " << endl;
cout << "Example for the file 'config.txt' in the same directory: ./buildDL_LZ config.txt" << endl;
exit(1);
}
par->configFile = string(argv[1]);
cout << "Congif file: " << par->configFile << endl;
ConfigFile cf(par->configFile);
TRACE = cf.Value("GLOBALS","TRACE");
TEST = cf.Value("GLOBALS","TEST");
N_REP = cf.Value("GLOBALS","N_REP");
strcpy(par->inputFile, ((string)(cf.Value("DL","inputFile"))).c_str());
par->filesInList = cf.Value("DL","filesInList");
par->boundSymbol = cf.Value("DL","boundSymbol");
par->cutDoc = cf.Value("DL","cutDoc");
par->lowercase = cf.Value("DL","lowercase");
par->levRMQ_range = cf.Value("DL","levRMQ");
strcpy(par->dirStore, ((string)(cf.Value("DL","dirStore"))).c_str());
cout << "buildDL_LZ config parameters..." << endl;
cout << "Input File : " << par->inputFile << endl;
cout << "File in list : " << par->filesInList << endl;
cout << "Boundary Symbol(code) : " << (int)par->boundSymbol << endl;
cout << "Cut Doc. Symbol(code) : " << (int)par->cutDoc << endl;
cout << "Lowercase : " << par->lowercase << endl;
cout << "Range levels with RMQ : " << par->levRMQ_range << endl;
cout << "Store Folder : " << par->dirStore << endl;
LZDocList64::TRACE = TRACE;
LZDocList64::TEST = TEST;
par->index = new LZDocList64(par->levRMQ_range, par->inputFile, par->filesInList, par->cutDoc, par->lowercase, par->dirStore, par->boundSymbol, false);
par->n = par->index->n;
par->EndDocs = par->index->EndDocs;
cout << "____________________________________________________" << endl;
cout << "*** Index size " << par->index->sizeDS << " bytes = " << (float)par->index->sizeDS*8.0/(float)par->n << " bpc" << endl;
cout << "*** SizeUpRange = " << par->index->sizeUpRange << " bytes = " << (float)par->index->sizeUpRange*8.0/(float)par->n << " bpc" << endl;
cout << "====================================================" << endl;
par->index->saveDS(true);
{
// create the FMI to execute test...
cout << "____________________________________________________" << endl;
cout << " Make the FMI ..." << endl;
strcpy(fileName, "");
strcpy(fileName, par->inputFile);
cout << " Reading... " << fileName << endl;
strcat(fileName, "_copy.txt");
construct(par->index->fmi, fileName, 1); // generate index
cout << " ** FMI size " << size_in_bytes(par->index->fmi) << " bytes = " << (float)size_in_bytes(par->index->fmi)/(float)par->n << "|T|" << endl;
cout << " ** FMI length " << par->index->fmi.size() << endl;
if (par->index->fmi.size() != par->n){
cout << "ERROR. FMI length != n = " << par->n << endl;
exit(1);
}
strcpy(fileName, "");
strcpy(fileName, par->dirStore);
strcat(fileName, "fmi.test");
store_to_file(par->index->fmi, fileName);
}
if (TEST){
strcpy(fileName, "");
strcpy(fileName, par->dirStore);
strcat(fileName, "EndDocs.test");
ofstream os2 (fileName, ios::binary);
os2.write((const char*)par->EndDocs, par->index->nDocs*sizeof(ulong)); // save LbRev[]
if(TRACE) cout << " .- EndDocs[] " << par->index->nDocs*sizeof(ulong) << " Bytes" << endl;
os2.close();
par->index->sep_rrr = rrr_vector<127>(par->index->sepPhrase_b);
par->index->sep_rank = rrr_vector<127>::rank_1_type(&par->index->sep_rrr);
std::cout << " sep_rrr uses " << size_in_bytes(par->index->sep_rrr) << " Bytes" << endl;
strcpy(fileName, "");
strcpy(fileName, par->dirStore);
strcat(fileName, "sep_rrr.test");
store_to_file(par->index->sep_rrr, fileName);
strcpy(fileName, "");
strcpy(fileName, par->dirStore);
strcat(fileName, "sep_rank.test");
store_to_file(par->index->sep_rank, fileName);
strcpy(fileName, "");
strcpy(fileName, par->dirStore);
strcat(fileName, "EndDocs.test");
ofstream os3 (fileName, ios::binary);
os3.write((const char*)par->EndDocs, par->index->nDocs*sizeof(ulong)); // save LbRev[]
if(TRACE) cout << " .- EndDocs[] " << par->index->nDocs*sizeof(ulong) << " Bytes" << endl;
os3.close();
// load Sequence...
strcpy(fileName, "");
strcpy(fileName, par->dirStore);
strcat(fileName, "sequence.test");
ifstream is(fileName, ios::binary);
par->seq = new uchar[par->n];
is.read((char*)par->seq, par->n*sizeof(uchar));
is.close();
cout << "Running test searchPattern.." << endl;
testSearchPatt_DL_CSA_LZ(par);
cout << "Test searchPattern OK !!" << endl;
}
par->index->~LZDocList64();
cout << "$$$$$$$$$$$$$$$$$$$$$" << endl;
return 0;
}
