// Constructor with estimate and time.
HomogeneousPointParameterBlock::HomogeneousPointParameterBlock(
const Eigen::Vector3d& point, uint64_t id, bool initialized) {
setEstimate(Eigen::Vector4d(point[0], point[1], point[2], 1.0));
setId(id);
setInitialized(initialized);
setFixed(false);
}
Collectable::Collectable( vec3 position, vec3 scale )
{
ModelImporter modelImporter;
setModel( modelImporter.loadModel( "Models/bolt.obj", "Models/Textures/nut_texture2.jpg" ) );
setPosition( position );
setScale( scale );
setFixed( true );
setGameObjType( "Collectable" );
}
void AnchoredRectangleHandlerBootstrap::fixImmutableFeaturePoses(
const Eigen::VectorXd &pose, double percentageThreshold,
double minZDistance) {
map<double, unsigned int> candidates;
for (auto& feature : _objects) {
auto& map = feature.second.zHistory;
voteFixedPoseCandidates(candidates, map, minZDistance);
}
for (auto& candidate : candidates) {
double percentage = static_cast<double>(candidate.second)
/ static_cast<double>(_objects.size());
if (percentage >= percentageThreshold) {
auto pose_ptr = _filter->getNearestPoseByTimestamp(candidate.first);
pose_ptr->setEstimate(pose);
pose_ptr->setFixed(true);
}
}
}
//
// Assign facets
// assign common facets
// assign additional facet
//
void AbstractNumericFacetValidator::assignFacet(MemoryManager* const manager)
{
RefHashTableOf<KVStringPair>* facets = getFacets();
if (!facets) // no facets defined
return;
XMLCh* key;
RefHashTableOfEnumerator<KVStringPair> e(facets, false, manager);
while (e.hasMoreElements())
{
KVStringPair pair = e.nextElement();
key = pair.getKey();
XMLCh* value = pair.getValue();
if (XMLString::equals(key, SchemaSymbols::fgELT_PATTERN))
{
setPattern(value);
if (getPattern())
setFacetsDefined(DatatypeValidator::FACET_PATTERN);
// do not construct regex until needed
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_MAXINCLUSIVE))
{
try
{
setMaxInclusive(value);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_MaxIncl, value, manager);
}
setFacetsDefined(DatatypeValidator::FACET_MAXINCLUSIVE);
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_MAXEXCLUSIVE))
{
try
{
setMaxExclusive(value);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_MaxExcl, value, manager);
}
setFacetsDefined(DatatypeValidator::FACET_MAXEXCLUSIVE);
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_MININCLUSIVE))
{
try
{
setMinInclusive(value);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_MinIncl, value, manager);
}
setFacetsDefined(DatatypeValidator::FACET_MININCLUSIVE);
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_MINEXCLUSIVE))
{
try
{
setMinExclusive(value);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_MinExcl, value, manager);
}
setFacetsDefined(DatatypeValidator::FACET_MINEXCLUSIVE);
}
else if (XMLString::equals(key, SchemaSymbols::fgATT_FIXED))
{
unsigned int val;
bool retStatus;
try
{
retStatus = XMLString::textToBin(value, val, fMemoryManager);
}
catch (RuntimeException&)
{
ThrowXMLwithMemMgr(InvalidDatatypeFacetException, XMLExcepts::FACET_internalError_fixed, manager);
}
if (!retStatus)
{
ThrowXMLwithMemMgr(InvalidDatatypeFacetException, XMLExcepts::FACET_internalError_fixed, manager);
}
setFixed(val);
//no setFacetsDefined here
}
else
{
assignAdditionalFacet(key, value, manager);
}
}//while
}// end of assigneFacet()
// Default constructor (assumes not fixed).
HomogeneousPointParameterBlock::HomogeneousPointParameterBlock()
: base_t::ParameterBlockSized(),
initialized_(false) {
setFixed(false);
}
//
// Assign facets
// assign common facets
// assign additional facet
//
void AbstractStringValidator::assignFacet(MemoryManager* const manager)
{
RefHashTableOf<KVStringPair>* facets = getFacets();
if (!facets)
return;
XMLCh* key;
RefHashTableOfEnumerator<KVStringPair> e(facets, false, manager);
while (e.hasMoreElements())
{
KVStringPair pair = e.nextElement();
key = pair.getKey();
XMLCh* value = pair.getValue();
if (XMLString::equals(key, SchemaSymbols::fgELT_LENGTH))
{
int val;
try
{
val = XMLString::parseInt(value, manager);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_Len, value, manager);
}
if ( val < 0 )
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_NonNeg_Len, value, manager);
setLength(val);
setFacetsDefined(DatatypeValidator::FACET_LENGTH);
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_MINLENGTH))
{
int val;
try
{
val = XMLString::parseInt(value, manager);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_minLen, value, manager);
}
if ( val < 0 )
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_NonNeg_minLen, value, manager);
setMinLength(val);
setFacetsDefined(DatatypeValidator::FACET_MINLENGTH);
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_MAXLENGTH))
{
int val;
try
{
val = XMLString::parseInt(value, manager);
}
catch (NumberFormatException&)
{
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_Invalid_maxLen, value, manager);
}
if ( val < 0 )
ThrowXMLwithMemMgr1(InvalidDatatypeFacetException, XMLExcepts::FACET_NonNeg_maxLen, value, manager);
setMaxLength(val);
setFacetsDefined(DatatypeValidator::FACET_MAXLENGTH);
}
else if (XMLString::equals(key, SchemaSymbols::fgELT_PATTERN))
{
setPattern(value);
if (getPattern())
setFacetsDefined(DatatypeValidator::FACET_PATTERN);
// do not construct regex until needed
}
else if (XMLString::equals(key, SchemaSymbols::fgATT_FIXED))
{
unsigned int val;
bool retStatus;
try
{
retStatus = XMLString::textToBin(value, val, fMemoryManager);
}
catch (RuntimeException&)
{
ThrowXMLwithMemMgr(InvalidDatatypeFacetException, XMLExcepts::FACET_internalError_fixed, manager);
}
if (!retStatus)
{
ThrowXMLwithMemMgr(InvalidDatatypeFacetException, XMLExcepts::FACET_internalError_fixed, manager);
}
setFixed(val);
//no setFacetsDefined here
}
//
// else if (XMLString::equals(key, SchemaSymbols::fgELT_SPECIAL_TOKEN))
// TODO
//
// Note: whitespace is taken care of by TraverseSchema.
//
else
{
assignAdditionalFacet(key, value, manager);
}
}//while
}//end of assigneFacet()
double compareSteadyStates(GAindividual p, double ** table, int rows, int inputs, int outputs, int corr, double ** res)
{
int i, j, m, k, g, cols, n, *best;
double * ss, * iv, closest, temp, sumOfSq, corrcoef, *mXY, *mX, *mY, *mX2, *mY2, oldMaxT = SS_FUNC_MAX_TIME;
double * ss2;
double a,b,c;
ReactionNetwork * r = (ReactionNetwork*)(p);
SS_FUNC_MAX_TIME = 100.0;
cols = inputs + outputs;
n = getNumSpecies(r);
if (n < cols) return 0.0; // not enough species
for (i=0; i < inputs; ++i)
{
setFixed(r,i,1);
}
sumOfSq = 0.0;
corrcoef = 0.0;
iv = (double*) malloc( n * sizeof(double) );
for (i=0; i < n; ++i)
iv[i] = r->initialValues[i];
best = (int*) malloc ( outputs * sizeof(int) );
mX = (double*)malloc( outputs * sizeof(double) );
mY = (double*)malloc( outputs * sizeof(double) );
mXY = (double*)malloc( outputs * sizeof(double) );
mX2 = (double*)malloc( outputs * sizeof(double) );
mY2 = (double*)malloc( outputs * sizeof(double) );
for (i=0; i < outputs; ++i)
{
best[i] = -1;
mXY[i] = mX[i] = mY[i] = mX2[i] = mY2[i] = 0;
}
ss2 = (double*)malloc(rows*sizeof(double));
for (m=0; m < rows; ++m)
{
for (i=0; i < inputs; ++i)
r->initialValues[i] = table[m][i];
for (i=inputs; i < n; ++i)
r->initialValues[i] = 0.0;
ss = networkSteadyState(r);
if (ss) //error in simulation?
{
if (res)
{
for (i=0; i < inputs; ++i)
res[m][i] = ss[i];
}
for (i=0; i < outputs; ++i) //for each target output
{
if (best[i] < 0)
{
closest = -1.0;
for (j=inputs; j < n; ++j) //find best match
{
g = 0;
for (k=0; k < outputs; ++k)
if (best[k] == j)
{
g = 1;
break;
}
if (g) continue;
temp = (ss[j] - table[m][inputs+i]);
if ((closest < 0.0) || ((temp*temp) < closest))
{
closest = temp*temp;
best[i] = j;
}
}
}
j = i+inputs;
if (res)
{
res[m][inputs+i] = ss[j];
}
ss2[m] = ss[j];
temp = (ss[j] - table[m][inputs+i]);
closest = temp*temp;
sumOfSq += closest;
mX[i] += ss[j];
mY[i] += table[m][inputs+i];
mXY[i] += table[m][inputs+i] * ss[j];
mX2[i] += ss[j]*ss[j];
mY2[i] += table[m][inputs+i]*table[m][inputs+i];
if (closest < 0.0)
{
sumOfSq = -1.0;
break;
}
}
free(ss);
}
else
{
sumOfSq = -1.0;
break;
}
}
corrcoef = 0.0;
for (i=0; i < outputs; ++i)
{
mX[i] /= rows;
mY[i] /= rows;
mXY[i] /= rows;
mX2[i] /= rows;
mY2[i] /= rows;
if ( (mX2[i] - mX[i]*mX[i]) <= 0.0 || (mY2[i] - mY[i]*mY[i]) <= 0.0 )
{
sumOfSq = -1.0;
break;
}
a = mXY[i] - mX[i]*mY[i];
b = mX2[i] - mX[i]*mX[i];
c = mY2[i] - mY[i]*mY[i];
if (a > 1.0 && b > 1.0 && c > 1.0)
{
temp = a/( sqrt(b)*sqrt(c)); //correlation formula
corrcoef = temp*temp; //between 0 and 1
}
else
{
corrcoef = 0.0;
sumOfSq = 0.0;
}
if (corrcoef > 0.9)
{
temp = temp + 0.0;
}
}
free(ss2);
for (i=0; i < n; ++i)
r->initialValues[i] = iv[i];
free(iv);
free(mX);
free(mY);
free(mXY);
free(mX2);
free(mY2);
//restore the fixed
for (i=0; i < inputs; ++i)
{
setFixed(r,i,0);
}
SS_FUNC_MAX_TIME = oldMaxT;
if (sumOfSq <= 0.0) return 0.0;
if (corr) return corrcoef;
return (1.0 / (1.0 + sumOfSq));
}