void do_sh_range(double *ystart, double *yend) {
double parlo, parhi, dpar, temp;
int npar, i, j, ierr;
int side, cycle, icol, color;
char bob[50];
if (set_up_sh_range() == 0)
return;
swap_color(&color, 0);
parhi = shoot_range.phigh;
parlo = shoot_range.plow;
npar = shoot_range.steps;
dpar = (parhi - parlo) / (double)npar;
side = shoot_range.side;
cycle = shoot_range.cycle;
storind = 0;
icol = 0;
if (shoot_range.movie == 1)
reset_film();
for (i = 0; i <= npar; i++) {
temp = parlo + dpar * (double)i;
set_val(shoot_range.item, temp);
sprintf(bob, "%s=%.16g", shoot_range.item, temp);
x11_status_bar_set_text(main_status_bar, bob);
if (shoot_range.movie == 1)
clr_scrn();
bvshoot(ystart, yend, BVP_TOL, BVP_EPS, BVP_MAXIT, &ierr, NODE, 0, 0, 0, 0,
0.0);
if (ierr == ABORT)
continue;
if (ierr < 0) {
bad_shoot(ierr);
set_browser_data(storage, storind, NEQ + 1);
swap_color(&color, 1);
return;
}
storage[0][storind] = temp;
if (side == 0)
for (j = 0; j < NODE; j++)
storage[j + 1][storind] = ystart[j];
else
for (j = 0; j < NODE; j++)
storage[j + 1][storind] = yend[j];
storind++;
set_cycle(cycle, &icol);
get_ic(0, ystart);
last_shot(0);
if (shoot_range.movie == 1)
film_clip();
ping();
}
set_browser_data(storage, storind, NEQ + 1);
auto_freeze_it();
swap_color(&color, 1);
}
std::vector<mboard> generator::GenerateMidEnd_Black(mboard board)
{
std::vector<mboard> List;
mboard board_swapped;
board_swapped=swap_color(board);
List =GenerateMovesMidEndgame(board_swapped);
std::vector<mboard> List2;
List2=swap_color_List(List);
return List2;
}
std::vector<mboard> generator::GenerateMoveOpening_Black(mboard board)
{
std::vector<mboard> List;
mboard board_swapped;
board_swapped=swap_color(board);
List=GenerateMovesOpening(board_swapped);
std::vector<mboard> List2;
List2=swap_color_List(List);
return List2;
}
//swap color for array
std::vector<mboard> swap_color_List(std::vector<mboard> List)
{
for(int i=0;i<List.size();i++)
{
mboard temp;
temp=swap_color(List.at(i));
//???
List.at(i)=temp;
}
return List;
}
void ARM_manager::fireposeCallback(const geometry_msgs::PoseStamped::ConstPtr & ptr)
{
swap_color(*ptr);
/*
geometry_msgs::PoseStamped tmp_pose;
tmp_pose.pose.position.x = 0.2;
tmp_pose.pose.position.y = 0.0;
tmp_pose.pose.position.z = 0.09;
tmp_pose.pose.orientation.x = 0.0;
tmp_pose.pose.orientation.y = 0.707;
tmp_pose.pose.orientation.z = 0.0;
tmp_pose.pose.orientation.w = 0.707;
compute_RIK(tmp_pose);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = 0.09;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.0;
tmp_pose.pose.orientation.y = 0.707;
tmp_pose.pose.orientation.z = 0.0;
tmp_pose.pose.orientation.w = 0.707;
compute_LIK(tmp_pose);
joint_publish(2);
usleep(2000000);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = -0.09;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.5;
tmp_pose.pose.orientation.y = 0.5;
tmp_pose.pose.orientation.z = 0.5;
tmp_pose.pose.orientation.w = 0.5;
compute_RIK(tmp_pose);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = 0.09;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.5;
tmp_pose.pose.orientation.y = -0.5;
tmp_pose.pose.orientation.z = 0.5;
tmp_pose.pose.orientation.w = -0.5;
compute_LIK(tmp_pose);
joint_publish(2);
usleep(2000000);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = -0.07;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.5;
tmp_pose.pose.orientation.y = 0.5;
tmp_pose.pose.orientation.z = 0.5;
tmp_pose.pose.orientation.w = 0.5;
compute_RIK(tmp_pose);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = 0.07;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.5;
tmp_pose.pose.orientation.y = -0.5;
tmp_pose.pose.orientation.z = 0.5;
tmp_pose.pose.orientation.w = -0.5;
compute_LIK(tmp_pose);
joint_publish(2);
usleep(2000000);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = -0.09;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.5;
tmp_pose.pose.orientation.y = 0.5;
tmp_pose.pose.orientation.z = 0.5;
tmp_pose.pose.orientation.w = 0.5;
compute_RIK(tmp_pose);
tmp_pose.pose.position.x = 0.27;
tmp_pose.pose.position.y = 0.09;
tmp_pose.pose.position.z = 0.25;
tmp_pose.pose.orientation.x = 0.5;
tmp_pose.pose.orientation.y = -0.5;
tmp_pose.pose.orientation.z = 0.5;
tmp_pose.pose.orientation.w = -0.5;
compute_LIK(tmp_pose);
joint_publish(2);
usleep(2000000);
tmp_pose.pose.position.x = 0.25;
tmp_pose.pose.position.y = -0.09;
tmp_pose.pose.position.z = 0.22;
tmp_pose.pose.orientation.x = 0.0;
tmp_pose.pose.orientation.y = 0.707;
tmp_pose.pose.orientation.z = 0.0;
tmp_pose.pose.orientation.w = 0.707;
compute_RIK(tmp_pose);
tmp_pose.pose.position.x = 0.21;
tmp_pose.pose.position.y = 0.02;
tmp_pose.pose.position.z = 0.16;
tmp_pose.pose.orientation.x = 0.0;
tmp_pose.pose.orientation.y = 0.707;
tmp_pose.pose.orientation.z = 0.0;
tmp_pose.pose.orientation.w = 0.707;
compute_LIK(tmp_pose);
joint_publish(2);
*/
std_msgs::Empty done;
done_pub.publish(done);
}
mboard generator::getBoard_color_swapped(mboard board)
{
return swap_color(board);
}
