int main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "dhri_multipleObjectTracking");
ros::NodeHandle n;
// read parameters
if(!readParameters()) return 0;
tf_listener = new tf::TransformListener(ros::Duration(5000));
// publishers
pub_filtered = n.advertise<pcl::PCLPointCloud2>(param_pub_points_filtered.data(), 1000);
pub_segmented = n.advertise<pcl::PCLPointCloud2>(param_pub_points_segmented.data(), 1000);
pub_track = n.advertise<pcl::PCLPointCloud2>(param_pub_points_trackID.data(), 1000);
pub_objectmodel = n.advertise<pcl::PCLPointCloud2>(param_pub_points_objectmodel.data(), 1000);
pub_trackID = n.advertise<visualization_msgs::MarkerArray>(param_pub_markers_trackID.data(), 1000);
pub_gaussians = n.advertise<visualization_msgs::MarkerArray>(param_pub_markers_gaussians.data(), 1000);
pub_workspace = n.advertise<nav_msgs::GridCells> (param_workspace_topic, 1000);
pub_lastmodel = n.advertise<sensor_msgs::PointCloud2>("models", 1000);
pub_particles = n.advertise<sensor_msgs::PointCloud2>("particles", 1000);
pctracking = new PCTracking(isdebug, param_frame_id, &pub_scene, &pub_model, 3, cont_sampling, cont_simplify, param_segmentTolerance);
tf_listener->waitForTransform(param_frame_id.data(), "/camera_rgb_frame", ros::Time::now(), ros::Duration(5.0));
ros::Subscriber sub_id = n.subscribe(param_sub_topic.data(), param_buffernum, cb_rgb);
ros::spin();
delete pctracking;
return 0;
}
//#define EXTREME_LOGGING
//#define EXTREME_LOGGING_PLUS
//----------------------------------------------------------------------------------
Simulation::Simulation(const OptionsFile& optionsFile, const SimulationFile& simulationFile) :
mpFunctions(FunctionsSingleton::instance()),
mOptionsFileParameters(optionsFile.getOptionsFileParameters())
{
simulationFile.coutAll();
readParameters(simulationFile.getParameters());
const unsigned int popSize = mPop.size();
switch (simulationFile.getReproductionMode())
{
case enumReproductionModeFraction:
for (unsigned int i=0; i<popSize; ++i)
{
mPop[i] = new SoilMiteFraction("INIT");
assert(mPop[i]!=NULL);
}
break;
case enumReproductionModeAmount:
for (unsigned int i=0; i<popSize; ++i)
{
mPop[i] = new SoilMiteAmount("INIT");
assert(mPop[i]!=NULL);
}
break;
default: assert(!"Unknown value of: simulationFile.getReproductionMode()");
}
}
int main(int argc, char *argv[])
{
#if QT_VERSION < 0x050000
QTextCodec::setCodecForTr(TApplication::codec());
QTextCodec::setCodecForCStrings(TApplication::codec());
#endif
QTextCodec::setCodecForLocale(TApplication::codec());
int lResult = 0; // по умолчанию программа возвращает 0
bool lStart = true; // по умолчанию программа запускается
if (argc > 1) // были заданы какие-то аргументы
lStart = readParameters(argc, argv); // прочитаем их
if (lStart) {
TApplication application(argc, argv);
QStringList paths = application.libraryPaths();
application.setLibraryPaths(paths);
application.debug(application.debugMode(), "\n");
application.debug(application.debugMode(), "Program startup.");
if (application.open()) { // Если приложение удалось создать
application.show(); // Откроем приложение
lResult = application.exec();
}
application.debug(application.debugMode(), "Program shutdown.\n");
application.close(); // Закроем приложение
application.quit();
}
return lResult;
}
bool PreprocessorVisitor::expandMacro(std::string& input, PreprocessorSymbol* const symbol) const
{
if (symbol == 0)
return false;
const std::string& name = symbol->getID();
bool expanded = false;
for (size_t pos = input.find(name, 0), lastPos = 0; pos != std::string::npos;
pos = input.find(name, lastPos))
{
std::string body = symbol->getBody()->toString(terminals_);
expanded = true;
lastPos = pos + name.size();
if (symbol->isFunction()) {
const std::vector<std::string>& formals = symbol->getFormals();
std::vector<std::string> parameters = readParameters(input, lastPos);
if (symbol->getNumFormals() == parameters.size()) {
for (size_t i = 0; i < parameters.size(); ++i)
body = replace(body, formals[i], parameters[i]);
}
std::string macroInvocation = input.substr(pos, lastPos - pos);
input = replace(input, macroInvocation, body);
} else {
std::string macroInvocation = input.substr(pos, lastPos - pos);
input = replace(input, macroInvocation, body);
break;
}
}
return expanded;
}
executeIfPythonFunctionObject::executeIfPythonFunctionObject
(
const word& name,
const Time& t,
const dictionary& dict
)
:
conditionalFunctionObjectListProxy(
name,
t,
dict
),
pythonInterpreterWrapper(
t.db(),
dict
)
{
if(!parallelNoRun()) {
initEnvironment(t);
setRunTime(t);
}
readParameters(dict);
}
static IntegralArea* prepareParameters(const SeparationFlags* sf,
AstronomyParameters* ap,
BackgroundParameters* bgp,
Streams* streams)
{
IntegralArea* ias;
ias = setupSeparation(ap, bgp, streams, sf);
/* Try the new file first. If that doesn't work, try the old one. */
if (!ias)
{
mw_printf("Error reading astronomy parameters from file '%s'\n"
" Trying old parameters file\n", sf->ap_file);
ias = readParameters(sf->ap_file, ap, bgp, streams);
}
if (!ias)
{
mw_printf("Failed to read parameters file\n");
return NULL;
}
if (sf->numArgs && setParameters(ap, bgp, streams, sf->numArgs, sf->nForwardedArgs))
{
mwFreeA(ias);
freeStreams(streams);
return NULL;
}
return ias;
}
StorePuckServer::StorePuckServer(ros::NodeHandle nh) :
Server(nh, "Store Puck"),
server_(nh, "store_puck", boost::bind(&StorePuckServer::executeCallback, this, _1), false),
align_client_("align", true)
{
readParameters();
digital_readings_sub_ = nh_.subscribe("digital_readings", 1, &StorePuckServer::digitalReadingsCallback, this);
distance_sensors_sub_ = nh_.subscribe("distance_sensors", 1, &StorePuckServer::distanceSensorsCallback, this);
laser_scan_sub_ = nh_.subscribe("scan", 10, &StorePuckServer::laserScanCallback, this);
find_areas_cli_ = nh_.serviceClient<robotino_vision::FindInsulatingTapeAreas>("find_areas");
state_ = store_puck_states::UNINITIALIZED;
percentage_ = 0;
loaded_ = false;
flag_aux_ = false;
left_index_ = 0;
right_index_ = 0;
lateral_ = false;
laser_front_ = 0.0;
laser_right_ = 0.0;
laser_left_ = 0.0;
phi_fut_ = 0.0;
}
/** \brief Main entry point
*/
int main(int argc, char **argv)
{
// Override SIGINT handler
ros::init(argc, argv, "stereo_odometry");
ros::start();
// Objects
odom::Tracker tracker;
// Read parameters
odom::Tracker::Params tracker_params;
readParameters(tracker_params);
// Set the parameters for every object
tracker.setParams(tracker_params);
// Launch threads
boost::thread trackingThread(&odom::Tracker::run, &tracker);
// ROS spin
ros::Rate r(10);
while (ros::ok())
{
r.sleep();
}
ros::shutdown();
return 0;
}
MyFracWindow::MyFracWindow() : KDockMainWindow(NULL, "mainwnd", WType_TopLevel),
_posValid(false),
_juliaMode(false),
_maxIter(0.5),
_threshold(0.5),
_gradientData(NULL),
_scrollTimer(NULL),
_scrollDir(0),
_generator(this, false),
_progressDialog(NULL)
{
KImageIO::registerFormats();
generatorThread.start(QThread::LowPriority);
createWidgets();
createActions();
createGUI();
_presets.loadPresets(kapp->config());
readParameters();
onDefaultView();
updateMode();
_scrollTimer = new QTimer(this);
connect(_scrollTimer, SIGNAL(timeout()), SLOT(scrollTimer()));
resize(700, 520);
setAutoSaveSettings();
readDockConfig();
}
void init(const QString& desktopFileName) {
delete mDesktopFile;
mDesktopFile=new KDesktopFile(desktopFileName);
mUrl.setPath(desktopFileName);
QStringList parameterNameList = readParameterNameList(desktopFileName);
readParameters(parameterNameList);
}
void setupParametersFromFile(std::string path)
{
FILE * pFile = fopen( path.c_str(), "r");
if (pFile == NULL)
perror ("Error opening file");
else
readParameters(pFile);
fclose(pFile);
}
ImageToGridmapDemo::ImageToGridmapDemo(ros::NodeHandle& nodeHandle)
: nodeHandle_(nodeHandle),
map_(grid_map::GridMap({"elevation"})),
mapInitialized_(false)
{
readParameters();
map_.setBasicLayers({"elevation"});
imageSubscriber_ = nodeHandle_.subscribe(imageTopic_, 1, &ImageToGridmapDemo::imageCallback, this);
gridMapPublisher_ = nodeHandle_.advertise<grid_map_msgs::GridMap>("grid_map", 1, true);
}
setDeltaTWithPythonFunctionObject::setDeltaTWithPythonFunctionObject
(
const word &name,
const Time& t,
const dictionary& dict
)
:
timeManipulationWithPythonFunctionObject(name,t,dict)
{
readParameters(dict);
}
// ===================================================
// Methods
// ===================================================
void
BCInterfaceData::readBC( const std::string& fileName, const std::string& dataSection, const std::string& name )
{
GetPot dataFile( fileName );
// Read base
readBase( dataFile, dataSection + name + "/", M_base, M_baseString );
// Read parameters
readParameters( dataFile, ( dataSection + name + "/parameters" ).c_str() );
}
/*
* Read parameter block, including begin and end.
*/
void McSimulation::readParam(std::istream& in)
{
if (isRestarting_) {
if (isInitialized_) {
return;
}
}
readBegin(in, className().c_str());
readParameters(in);
readEnd(in);
}
int main(int argc, char *argv[]){
double *collideField = NULL;
double *streamField = NULL;
int *flagField = NULL;
int xlength = 0;
double tau = 0.0;
double velocityWall[3] = {0};
int timesteps = 0;
int timestepsPerPlotting = 0;
int t = 0;
int readParamError = 0;
const char *szProblem = "data_CFD_Assignment_02";
readParamError = readParameters(&xlength, &tau, velocityWall, ×teps, ×tepsPerPlotting, argc, argv);
if(readParamError != 0)
{
printf("Please provide only one argument to the program; the path to the input file.");
return -1;
}
/* Initialize pointers according to the D3Q19 discretization scheme */
collideField = malloc(19*(xlength+2)*(xlength+2)*(xlength+2)*sizeof(*collideField));
streamField = malloc(19*(xlength+2)*(xlength+2)*(xlength+2)*sizeof(*streamField));
flagField = malloc((xlength+2)*(xlength+2)*(xlength+2)*sizeof(*flagField));
initialiseFields(collideField, streamField, flagField, xlength);
for(t = 0; t < timesteps; t++)
{
double *swap = NULL;
doStreaming(collideField, streamField, flagField, xlength);
swap = collideField;
collideField = streamField;
streamField = swap;
doCollision(collideField, flagField, &tau, xlength);
treatBoundary(collideField, flagField, velocityWall, xlength);
if (t % timestepsPerPlotting == 0)
{
writeVtkOutput(collideField, flagField, szProblem, t, xlength);
}
}
/* Free heap memory */
free(collideField);
free(streamField);
free(flagField);
return 0;
}
/*bool PolicyImprovementLoop::initializeAndRunTaskByName(ros::NodeHandle& node_handle, std::string& task_name)
{
// load the task
boost::shared_ptr<Task> task;
ROS_INFO("abans de getTaskByName");
ROS_VERIFY(task_manager_.getTaskByName(task_name, task));
// initialize the PI loop
ROS_INFO("abans inicialitzar PI loop");
ROS_VERIFY(initialize(node_handle, task));
int first_trial, last_trial;
// first_trial defaults to 1:
node_handle.param("first_trial", first_trial, 1);
//ROS_VERIFY(usc_utilities::read(node_handle, std::string("first_trial"), first_trial));
ROS_INFO("abans llegir last trial");
ROS_VERIFY(usc_utilities::read(node_handle, std::string("last_trial"), last_trial));
ROS_INFO("abans de començar cicles de runSingleIterations");
for (int i=first_trial; i<=last_trial; ++i)
{
ROS_VERIFY(runSingleIteration(i));
ros::spinOnce();
}
return true;
}*/
bool PolicyImprovementLoop::first_init(ros::NodeHandle& node_handle)//, DMPWaypointTask::DMPWaypointTask& task)
{
node_handle_ = node_handle;
ROS_INFO("abans de llegir parametres");
ROS_VERIFY(readParameters());
//task_.dmp_controller_
//task_.dmp_controller_ = dmp_controller;
//task_ = task;
//assert(Utilities<DMPWaypointTask::DMPWaypointTask>::assign(task_, task));
return task_.first_init(node_handle_);
}
GridMapVisualization::GridMapVisualization(ros::NodeHandle& nodeHandle)
: nodeHandle_(nodeHandle),
mapRegionVisualization_(nodeHandle),
pointCloudVisualization_(nodeHandle),
vectorVisualization_(nodeHandle),
occupancyGridVisualization_(nodeHandle)
{
ROS_INFO("Grid map visualization node started.");
readParameters();
mapSubscriber_ = nodeHandle_.subscribe(mapTopic_, 1, &GridMapVisualization::callback, this);
initialize();
}
bool
pcl::io::LZFImageReader::readParameters (const std::string &filename)
{
std::filebuf fb;
std::filebuf *f = fb.open (filename.c_str (), std::ios::in);
if (f == NULL)
return (false);
std::istream is (&fb);
bool res = readParameters (is);
fb.close ();
return (res);
}
ReadPuckServer::ReadPuckServer(ros::NodeHandle nh) :
Server(nh, "Read Puck"),
server_(nh, "read_puck", boost::bind(&ReadPuckServer::executeCallback, this, _1), false),
align_client_("align", true)
{
readParameters();
find_objects_cli_ = nh_.serviceClient<robotino_vision::FindObjects>("find_objects");
state_ = read_puck_states::UNINITIALIZED;
percentage_ = 0;
verify_markers_ = false;
}
GridMapVisualization::GridMapVisualization(ros::NodeHandle& nodeHandle,
const std::string& parameterName)
: nodeHandle_(nodeHandle),
visualizationsParameter_(parameterName),
factory_(nodeHandle_),
isSubscribed_(false)
{
ROS_INFO("Grid map visualization node started.");
readParameters();
activityCheckTimer_ = nodeHandle_.createTimer(activityCheckDuration_,
&GridMapVisualization::updateSubscriptionCallback,
this);
initialize();
}
GrabPuckServer::GrabPuckServer(ros::NodeHandle nh) :
Server(nh, "Grab Puck"),
server_(nh, "grab_puck", boost::bind(&GrabPuckServer::executeCallback, this, _1), false)
{
readParameters();
digital_readings_sub_ = nh_.subscribe("digital_readings", 1, &GrabPuckServer::digitalReadingsCallback, this);
find_objects_cli_ = nh_.serviceClient<robotino_vision::FindObjects>("find_objects");
state_ = grab_puck_states::UNINITIALIZED;
percentage_ = 0;
loaded_ = false;
loaded_ramp_ = false;
loaded_delay_ = ros::Time::now();
}
int main(){
cout <<"****************************** READING INPUTS *****************************"<<endl;
readParameters();
readRouteChoiceModel();
cout <<readStops()<<"\t Stops"<<endl;
cout <<readTransfers()<<"\t Transfers"<<endl;
cout <<readRoutes()<<"\t Routes"<<endl;
cout <<readTrips()<<"\t Trips"<<endl;
cout <<readStopTimes()<<"\t Stop Times"<<endl;
cout <<defineTransferStops()<<"\t Transfer Stops"<<endl;
cout <<readTAZs()<<"\t TAZs"<<endl;
cout <<readAccessLinks()<<"\t Access Links"<<endl;
cout <<readPassengers()<<"\t Passengers"<<endl;
passengerAssignment();
return 0;
}
ElevationChangeDetection::ElevationChangeDetection(ros::NodeHandle& nodeHandle)
: nodeHandle_(nodeHandle),
layer_("elevation")
{
ROS_INFO("Elevation change detection node started.");
readParameters();
submapClient_ = nodeHandle_.serviceClient<grid_map_msgs::GetGridMap>(submapServiceName_);
elevationChangePublisher_ = nodeHandle_.advertise<grid_map_msgs::GridMap>("elevation_change_map", 1, true);
groundTruthPublisher_ = nodeHandle_.advertise<grid_map_msgs::GridMap>("ground_truth_map", 1, true);
updateTimer_ = nodeHandle_.createTimer(updateDuration_,
&ElevationChangeDetection::updateTimerCallback, this);
requestedMapTypes_.push_back(layer_);
}
//When loading, increase degree if number of parameters exceed qlen
bool Algebraic::readImplicit(std::ifstream &file,bool verbose)
{
std::vector<double> params;
readParameters(file,params);
if(params.size() != qlen())
{
//params doesn't match qlen, change degree
int newdegree = 0;
while (Algebraic::coefficients(newdegree) < (int)params.size())
newdegree++;
degree(newdegree);
}
setq(params);
return true;
}
bool CHOMP::initialize(ros::NodeHandle& node_handle, boost::shared_ptr<Task> task)
{
node_handle_ = node_handle;
ROS_VERIFY(readParameters());
task_ = task;
task_->getPolicy(policy_);
policy_->getNumTimeSteps(num_time_steps_);
control_cost_weight_ = task_->getControlCostWeight();
policy_->getNumDimensions(num_dimensions_);
policy_->getControlCosts(control_costs_);
policy_->getInvControlCosts(inv_control_costs_);
policy_->getParameters(parameters_);
update_.resize(num_dimensions_, Eigen::VectorXd(num_time_steps_));
noiseless_rollout_.noise_.resize(num_time_steps_, Eigen::VectorXd::Zero(num_time_steps_));
noiseless_rollout_.control_costs_.resize(num_time_steps_, Eigen::VectorXd::Zero(num_time_steps_));
return true;
}
int main(int argc, char *argv[])
{
unsigned int size, p1, p2;
// obtain user inputs
readParameters(size, p1, p2);
// create board of selected size
HexGame game(size);
// register players
registerPlayers(game, p1, p2);
// seed random generator and start play
srand(time(0));
game.Play(HEXBLUE);
}
writeAndEndPythonFunctionObject::writeAndEndPythonFunctionObject
(
const word &name,
const Time& t,
const dictionary& dict
)
:
writeAndEndFunctionObject(name,t,dict),
pythonInterpreterWrapper(
t.db(),
dict
)
{
if(!parallelNoRun()) {
initEnvironment(t);
setRunTime(t);
}
readParameters(dict);
}
Profile::Profile()
{
startInst = 0;
stopInst = 0;
currTaskID = 0;
currTime = 0;
maxCurrTime = 0;
lastRecInst = 0;
started = false;
//push the first thread into spawns
SpawnInfo sInfo;
sInfo.taskID = 0;
sInfo.instPos= 0;
sInfo.vTime = 0;
spawns.push_front(sInfo);
readParameters(osSim->getProfSectionName());
subscribe();
}
int main(int argc, char **argv) {
tagBITMAPFILEHEADER BITMAPFILEHEADER;
tagBITMAPINFOHEADER BITMAPINFOHEADER;
matrix image;
char source_file_name[100];
parameters inputParameters;
bool dontStopMeNow = true;//flag for help calling or incorrect parameters
initParameters(inputParameters);
readParameters(argc, argv, inputParameters, source_file_name[0], dontStopMeNow);
//function: sort parameters by queue --> user can combine it as he want
if (dontStopMeNow) {
readBMP(BITMAPFILEHEADER, BITMAPINFOHEADER, image, source_file_name[0]);
runFilters(inputParameters, BITMAPFILEHEADER, BITMAPINFOHEADER, image);
writeBMP(BITMAPFILEHEADER, BITMAPINFOHEADER, image);
}
}
