bool nn_fuzzy_set::normal_set() {
reset_position();
while (!end_of_set()) {
if(get_membership() == 1)
return true;
next_member();
}
return false;
}
nn_fuzzy_set nn_fuzzy_set::strong_alpha_cut(double alpha) {
nn_fuzzy_set result;
reset_position();
while (!end_of_set()) {
if(get_membership() > alpha)
result.add_new(get_member(),get_membership());
next_member();
}
return result;
}
nn_fuzzy_set nn_fuzzy_set::crossover() {
nn_fuzzy_set result;
reset_position();
while (!end_of_set()) {
if(get_membership() == 0.5)
result.add_new(get_member(),get_membership());
next_member();
}
return result;
}
nn_fuzzy_set nn_fuzzy_set::support() {
nn_fuzzy_set result;
reset_position();
while (!end_of_set()) {
if(get_membership() > 0)
result.add_new(get_member(),get_membership());
next_member();
}
return result;
}
bool nn_fuzzy_set::complement(int type = NN_COMPLEMENT_NORMAL, int parameter = 1) {
switch (type)
{
case NN_COMPLEMENT_NORMAL: // perform complement by the normal complement method like in crisp sets
reset_position();
while(!end_of_set()) {
set_membership(1 - get_membership());
next_member();
}
return true;
case NN_COMPLEMENT_SUGENOCLASS: // perform complement by the sugeno class of operators
reset_position();
while(!end_of_set()) {
set_membership((1 - get_membership()) / (1 + (parameter * get_membership())));
next_member();
}
return true;
default:
return NULL;
}
}
/**
* @brief 初期化
* @param wheelRadius 車輪の直径
* @param wheels_distance 車輪間の距離
* @param px 初期位置X
* @param py 初期位置Y
* @param a 初期姿勢
* @return true
*/
bool controlEV3::init(float wheelRadius, float wheelDistance, float px, float py, float a)
{
set_param(wheelRadius, wheelDistance);
reset_position(px, py, a);
if(right_touch_sensor)delete right_touch_sensor;
if(left_touch_sensor)delete left_touch_sensor;
if(color_sensor)delete color_sensor;
if(ultrasonic_sensor)delete ultrasonic_sensor;
if(gyro_sensor)delete gyro_sensor;
if(left_large_motor)delete left_large_motor;
if(right_large_motor)delete right_large_motor;
if(medium_motor)delete medium_motor;
right_touch_sensor = new ev3dev::touch_sensor(RIGHT_TOUCH_SENSOR_ADDRESS);
if(!right_touch_sensor->connected())
{
delete right_touch_sensor;
right_touch_sensor = new ev3dev::touch_sensor();
}
left_touch_sensor = new ev3dev::touch_sensor(LEFT_TOUCH_SENSOR_ADDRESS);
color_sensor = new ev3dev::color_sensor();
ultrasonic_sensor = new ev3dev::ultrasonic_sensor();
gyro_sensor = new ev3dev::gyro_sensor();
left_large_motor = new ev3dev::large_motor(LEFT_LARGE_MOTOR_ADDRESS);
if(left_large_motor->connected())
{
left_large_motor->set_stop_command(ev3dev::motor::stop_command_hold);
}
right_large_motor = new ev3dev::large_motor(RIGHT_LARGE_MOTOR_ADDRESS);
if(right_large_motor->connected())
{
right_large_motor->set_stop_command(ev3dev::motor::stop_command_hold);
}
medium_motor = new ev3dev::medium_motor();
if(medium_motor->connected())
{
medium_motor->set_stop_command(ev3dev::motor::stop_command_hold);
}
return true;
}
/*
* Reads keyboard input and updates scene variables.
* 'w' moves forward, 's' moves back
* 'a' strafes left, 'd' strafes right
* 'r' resets the view
* 'f' Sets movement to free, 'p' sets movement to person
*/
void input_update () {
float distance = 60.0f * getTimeStep();
static float walkTheta = 0;
vect3_t old_position, boundingBox = {1,1,1};
VectorCopy(camera.position, old_position);
// walk motion
if (keys_down[SDLK_w] || keys_down[SDLK_s]) {
walkTheta -= getTimeStep();
walkHeight = WALK_POSITION_SCALE*sin(walkTheta * WALK_TIME_SCALE);
}
// WASD movement
if(keys_down[SDLK_w]) {
camera_translateForward(-1 * distance);
}
if(keys_down[SDLK_s]) {
camera_translateForward(distance);
}
if(keys_down[SDLK_a])
camera_translateStrafe(-1 * distance);
if(keys_down[SDLK_d])
camera_translateStrafe(distance);
if (world_testCollision(boundingBox))
VectorCopy(old_position, camera.position);
if(keys_down[SDLK_z])
camera.position[_X] += 1;
if(keys_down[SDLK_x])
camera.position[_X] -= 1;
if(keys_down[SDLK_c])
camera.position[_Y] += 1;
if(keys_down[SDLK_v])
camera.position[_Y] -= 1;
if(keys_down[SDLK_b])
camera.position[_Z] += 1;
if(keys_down[SDLK_n])
camera.position[_Z] -= 1;
// r for reset
if(keys_down[SDLK_r]){
reset_position();
}
// Set movement to free or person
if (keys_down[SDLK_f])
free_move = 1;
else if (keys_down[SDLK_p])
free_move = 0;
}
/*
* Load data points and labels that are in different files
*/
void DataSet::load(const string& x_filename, const string& y_filename,
bool add_points) {
x_filename_ = x_filename;
y_filename_ = y_filename;
add_points_ = add_points;
reset_position();
if (load_iterative_) {
if (add_points) {
cout << "[ERROR] - DataSet.load: option 'add' and 'load_iterative' is not possible" << endl;
exit(EXIT_FAILURE);
}
x_file_.close();
y_file_.close();
load_dataset_iteratively(x_filename, y_filename);
open_position_file(x_filename);
} else {
if (add_points)
sample_pos_ = 0;
load_complete_dataset(x_filename, y_filename);
}
}
void dt_config::setup(){
width = 250;
height = 20;
int color = 110;
{
status.setDefaultWidth(width);
status.setDefaultHeight(height);
status.setDefaultTextColor(color);
status.setup();
status.setName("status");
status.add(fps.setup("fps", ""));
status.add(sleep_microsec.setup("/sleep_microsec", ""));
status.add(master_clock_out_resolution.setup("/master_clock_out_resolution", ""));
status.add(circle_num.setup("all circle num", ""));
status.add(noteOn_num.setup("noteOn circle num", ""));
status.add(param_num.setup("param circle num", ""));
status.add(output_num.setup("output circle num", ""));
}
{
osc.setDefaultWidth(width);
osc.setDefaultHeight(height);
osc.setDefaultTextColor(color);
osc.setup();
osc.setName("osc");
osc.add(osc_out_ch_max.setup("/osc_out_ch_max", ofToString(DT_OSC_OUT_CH_MAX)));
osc.add(osc_out_ch_min.setup("/osc_out_ch_min", ofToString(DT_OSC_OUT_CH_MIN)));
osc.add(osc_out_address.setup("/osc_out_address", ofToString(DT_OSC_OUT_ADDRESS)));
osc.add(osc_out_port.setup("/osc_out_port", ofToString(DT_OSC_OUT_PORT)));
osc.add(osc_in_port.setup("/osc_in_port", ofToString(DT_OSC_IN_PORT)));
}
{
generative_rhythm.setDefaultWidth(width);
generative_rhythm.setDefaultHeight(height);
generative_rhythm.setDefaultTextColor(color);
generative_rhythm.setup();
generative_rhythm.setName("generative_rhythm");
generative_rhythm.add(play_gen_rhythm.setup("/play_gen_rhythm", toOnOff(DT_PLAY_GEN_RHYTHM)));
generative_rhythm.add(gen_rhythm_rate.setup("/gen_rhythm_rate", ofToString(DT_GEN_RHYTHM_RATE)+"%"));
generative_rhythm.add(rhythm_shape_slot_min.setup("/rhythm_shape_slot_min", ofToString(DT_RHYTHM_SHAPE_SLOT_MIN)));
generative_rhythm.add(rhythm_shape_slot_max.setup("/rhythm_shape_slot_max", ofToString(DT_RHYTHM_SHAPE_SLOT_MAX)));
generative_rhythm.add(beat_resolution.setup("/beat_resolution", ofToString(DT_BEAT_RESOLUTION)));
generative_rhythm.add(beat_speed_max.setup("/beat_speed_max", ofToString(DT_BEAT_SPEED_MAX)));
generative_rhythm.add(connection_num_input_max.setup("/connection_num_input_max", ofToString(DT_CONNECTION_NUM_INPUT_MAX)));
generative_rhythm.add(connection_num_output_max.setup("/connection_num_output_max", ofToString(DT_CONNECTION_NUM_OUTPUT_MAX)));
}
{
buffered_rhythm.setDefaultWidth(width);
buffered_rhythm.setDefaultHeight(height);
buffered_rhythm.setDefaultTextColor(color);
buffered_rhythm.setup();
buffered_rhythm.setName("buffered_rhythm");
buffered_rhythm.add(play_buffered_rhythm.setup("/play_buffered_rhythm", toOnOff(DT_PLAY_BUFFERED_RHYTHM)));
buffered_rhythm.add(buffered_rhythm_rate.setup("/buffered_rhythm_rate", ofToString(DT_BUFFERED_RHYTHM_RATE)+"%"));
buffered_rhythm.add(buffered_rhythm_indicator.setup("/buffered_rhythm_indicator", ofToString(DT_BUFFERED_RHYTHM_INDICATOR)));
buffered_rhythm.add(buffered_rhythm_loop_start.setup("/buffered_rhythm_loop_start", ofToString(DT_BUFFERED_RHYTHM_LOOP_START)));
buffered_rhythm.add(buffered_rhythm_loop_end.setup("/buffered_rhythm_loop_end", ofToString(DT_BUFFERED_RHYTHM_LOOP_END)));
buffered_rhythm.add(show_buffered_rhythm.setup("/show_buffered_rhythm", toOnOff(DT_SHOW_BUFFERED_RHYTHM)));
}
reset_position();
}
nn_fuzzy_set nn_fuzzy_set::t_norm(nn_fuzzy_set op2,int type = NN_TNORM_MINIMUM) {
nn_fuzzy_set result;
reset_position();
op2.reset_position();
if (nn_size() != op2.nn_size()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
switch (type) {
case NN_TNORM_MINIMUM:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
if (get_membership() > op2.get_membership()) {
result.add_new(get_member(), op2.get_membership());
}
else {
result.add_new(get_member(), get_membership());
}
next_member();
op2.next_member();
}
break;
case NN_TNORM_PRODUCT:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
result.add_new(get_member(), get_membership() * op2.get_membership());
next_member();
op2.next_member();
}
break;
case NN_TNORM_EINSTEIN_PRODUCT:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
result.add_new(get_member(), (get_membership() * op2.get_membership()) / (2 - ((get_membership() + op2.get_membership()) - get_membership() * op2.get_membership())));
next_member();
op2.next_member();
}
break;
case NN_TNORM_DRASTIC_PRODUCT:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
if (op2.get_membership() == 1) {
result.add_new(get_member(), get_membership());
}
else if (get_membership() == 1) {
result.add_new(get_member(), op2.get_membership());
}
else {
result.add_new(get_member(), 0.0);
}
next_member();
op2.next_member();
}
break;
default:
break;
}
return result;
}
nn_fuzzy_set nn_fuzzy_set::s_norm(nn_fuzzy_set op2,int type = NN_SNORM_MAXIMUM) {
nn_fuzzy_set result;
reset_position();
op2.reset_position();
if (nn_size() != op2.nn_size()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
switch (type) {
case NN_SNORM_MAXIMUM:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
if (get_membership() < op2.get_membership()) {
result.add_new(get_member(), op2.get_membership());
}
else {
result.add_new(get_member(), get_membership());
}
next_member();
op2.next_member();
}
break;
case NN_SNORM_SUM:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
result.add_new(get_member(), get_membership() + op2.get_membership() - (get_membership() * op2.get_membership()));
next_member();
op2.next_member();
}
break;
case NN_SNORM_EINSTEIN_SUM:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
result.add_new(get_member(), get_membership() + op2.get_membership() / (1 + (get_membership() * op2.get_membership())));
next_member();
op2.next_member();
}
break;
case NN_SNORM_DRASTIC_SUM:
while (!end_of_set()) {
if (get_member() != op2.get_member()) {
nn_incompatibleFuzzySetsException ex;
throw ex;
}
if (op2.get_membership() == 0) {
result.add_new(get_member(), get_membership());
}
else if (get_membership() == 0) {
result.add_new(get_member(), op2.get_membership());
}
else {
result.add_new(get_member(), 1.0);
}
next_member();
op2.next_member();
}
break;
default:
break;
}
return result;
}
// Draw the item list window
//
int List_Window::draw(window_info *win)
{
Vars::lists()->check_and_timed_save(false);
// if resizing wait until we stop
if (win->resized)
resizing = true;
// once we stop, snap the window size to fix nicely
else if (resizing)
{
calc_num_show_names(win->len_y);
resizing = false;
resize_window (win->window_id, get_size_x(), get_size_y());
}
// check if we need to change the number of grid rows shown
int new_num_grid_rows = min_grid_rows();
if (Vars::lists()->valid_active_list())
new_num_grid_rows = std::max(static_cast<size_t>(new_num_grid_rows), (Vars::lists()->get_list().get_num_items() +5) / 6);
if (num_grid_rows != new_num_grid_rows)
{
num_grid_rows = new_num_grid_rows;
resized_name_panel(win);
}
// if the left/right position flag has changed, restore the window to its default location
if (last_items_list_on_left != items_list_on_left)
{
if (last_items_list_on_left != -1)
reset_position();
last_items_list_on_left = items_list_on_left;
}
glEnable(GL_TEXTURE_2D);
// draw the images
if (Vars::lists()->valid_active_list())
{
glColor3f(1.0f,1.0f,1.0f);
for(size_t i=0; i<Vars::lists()->get_list().get_num_items() && i<static_cast<size_t>(6*num_grid_rows); i++)
{
int x_start, y_start;
x_start = get_grid_size() * (i%6) + 1;
y_start = get_grid_size() * (i/6);
draw_item(Vars::lists()->get_list().get_image_id(i), x_start, y_start, get_grid_size());
}
}
size_t help_lines_shown = 0;
if (desc_str)
{
show_help(desc_str, 0, static_cast<int>(0.5 + win->len_y + 10 + SMALL_FONT_Y_LEN * help_lines_shown++));
desc_str = 0;
}
// Display any name search text
if (strlen(filter))
{
if (SDL_GetTicks() > (last_key_time+5000))
{
filter[0] = '\0';
last_key_time = 0;
}
else
{
std::string tmp = std::string(item_list_find_str) + std::string("[") + std::string(filter) + std::string("]");
show_help(tmp.c_str(), 0, static_cast<int>(0.5 + win->len_y + 10 + SMALL_FONT_Y_LEN * help_lines_shown++));
}
}
// draw mouse over window help text
if (show_help_text)
{
if (!resizing)
for (size_t i=0; i<help_str.size(); ++i)
show_help(help_str[i], 0, static_cast<int>(0.5 + win->len_y + 10 + SMALL_FONT_Y_LEN * help_lines_shown++));
help_str.clear();
}
glDisable(GL_TEXTURE_2D);
// draw the item grid
glColor3f(newcol_r, newcol_g, newcol_b);
rendergrid(6, num_grid_rows, 0, 0, get_grid_size(), get_grid_size());
// if an object is selected, draw a green grid around it
if (Vars::lists()->valid_active_list() && (quantities.selected == ITEM_EDIT_QUANT) && (selected_item_number < Vars::lists()->get_list().get_num_items()))
{
int x_start = selected_item_number%6 * get_grid_size();
int y_start = static_cast<int>(selected_item_number/6) * get_grid_size();
if ((SDL_GetTicks() - pickup_fail_time) < 250)
glColor3f(0.8f,0.2f,0.2f);
else
glColor3f(0.0f, 1.0f, 0.3f);
rendergrid(1, 1, x_start, y_start, get_grid_size(), get_grid_size());
rendergrid(1, 1, x_start-1, y_start-1, get_grid_size()+2, get_grid_size()+2);
}
glEnable(GL_TEXTURE_2D);
// draw the quantities over everything else so they always show
if (Vars::lists()->valid_active_list())
{
glColor3f(1.0f,1.0f,1.0f);
char str[80];
for(size_t i=0; i<Vars::lists()->get_list().get_num_items() && i<static_cast<size_t>(6*num_grid_rows); i++)
{
int x_start, y_start, y_end;
x_start = get_grid_size() * (i%6) + 1;
y_start = get_grid_size() * (i/6);
y_end = y_start + get_grid_size() - 1;
safe_snprintf(str, sizeof(str), "%i", Vars::lists()->get_list().get_quantity(i));
draw_string_small_shadowed(x_start, (i&1)?(y_end-15):(y_end-27), (unsigned char*)str, 1,1.0f,1.0f,1.0f, 0.0f, 0.0f, 0.0f);
}
}
// Drawn the new list button (+) with highlight when mouse over
if (mouse_over_add_button)
glColor3f(0.99f,0.77f,0.55f);
else
glColor3f(newcol_r, newcol_g, newcol_b);
draw_string_zoomed(add_button_x, add_button_y, (unsigned const char*)"+", 1, 2.0);
// draw the item list names
glColor3f(1.0f,1.0f,1.0f);
int pos_y = get_grid_size()*num_grid_rows + get_list_gap();
int num_shown = 0;
const int top_entry = vscrollbar_get_pos (win_id, names_scroll_id);
const std::vector<List> lists = Vars::lists()->get_lists();
const int hl_width = static_cast<int>(win->len_x-ELW_BOX_SIZE-3);
const int hl_height = static_cast<int>(names_list_height + get_list_gap());
const size_t disp_chars = static_cast<size_t>((win->len_x-ELW_BOX_SIZE-2*get_list_gap()) / SMALL_FONT_X_LEN);
for (size_t i = top_entry; i<lists.size() && num_shown<num_show_names_list; ++i)
{
if (i==Vars::lists()->get_active())
draw_highlight(1, static_cast<int>(pos_y-get_list_gap()/2), hl_width, hl_height, 1);
else if (i==name_under_mouse)
draw_highlight(1, static_cast<int>(pos_y-get_list_gap()/2), hl_width, hl_height, 0);
glColor3f(1.0f,1.0f,1.0f);
if (lists[i].get_name().size() > disp_chars)
{
std::string todisp = lists[i].get_name().substr(0,disp_chars);
draw_string_small(get_list_gap(), pos_y, reinterpret_cast<const unsigned char*>(todisp.c_str()), 1);
if (i==name_under_mouse)
show_help(lists[i].get_name().c_str(), 0, static_cast<int>(0.5 + win->len_y + 10 + SMALL_FONT_Y_LEN * help_lines_shown));
}
else
draw_string_small(get_list_gap(), pos_y, reinterpret_cast<const unsigned char*>(lists[i].get_name().c_str()), 1);
pos_y += static_cast<int>(names_list_height + get_list_gap());
num_shown++;
}
if (clicked && (name_under_mouse < lists.size()))
{
do_click_sound();
Vars::lists()->set_active(name_under_mouse);
}
if (clicked && mouse_over_add_button)
{
do_click_sound();
new_or_rename_list(true);
}
name_under_mouse = static_cast<size_t>(-1);
mouse_over_add_button = clicked = false;
#ifdef OPENGL_TRACE
CHECK_GL_ERRORS();
#endif //OPENGL_TRACE
return 1;
}
