void rightswipe()
{
int loc, i, j, s, cnt, ch;
ch = 2;
for(j=0;j<4;j++)
{
s = 9999;
cnt = 3;
loc = 0;
while(loc<=cnt)
{
if(a[j][cnt]==0)
{
swipe(ch,cnt,loc,j);
loc++;
}
else if(s == a[j][cnt])
{
a[j][cnt+1] = 2*s;
s = 9999;
swipe(ch,cnt,loc,j);
loc++;
}
else
{
s = a[j][cnt];
cnt--;
}
}
}
}
void DisplayGroupGraphicsView::gestureEvent( QGestureEvent* evt )
{
QGesture* gesture = 0;
if( ( gesture = evt->gesture( Qt::SwipeGesture )))
{
evt->accept( Qt::SwipeGesture );
swipe( static_cast< QSwipeGesture* >( gesture ));
}
else if( ( gesture = evt->gesture( PanGestureRecognizer::type( ))))
{
evt->accept( PanGestureRecognizer::type( ));
pan( static_cast< PanGesture* >( gesture ));
}
else if( ( gesture = evt->gesture( PinchGestureRecognizer::type( ))))
{
evt->accept( PinchGestureRecognizer::type( ));
pinch( static_cast< PinchGesture* >( gesture ));
}
else if( ( gesture = evt->gesture( Qt::TapGesture )))
{
evt->accept( Qt::TapGesture );
tap( static_cast< QTapGesture* >( gesture ));
}
else if( ( gesture = evt->gesture( Qt::TapAndHoldGesture )))
{
evt->accept( Qt::TapAndHoldGesture );
tapAndHold( static_cast< QTapAndHoldGesture* >( gesture ));
}
}
void DisplayGroupGraphicsView::gestureEvent( QGestureEvent* event )
{
if( QGesture* gesture = event->gesture( Qt::SwipeGesture ))
{
event->accept( Qt::SwipeGesture );
swipe( static_cast< QSwipeGesture* >( gesture ));
}
else if( QGesture* gesture = event->gesture( Qt::PanGesture ))
{
event->accept( Qt::PanGesture );
pan( static_cast< QPanGesture* >( gesture ));
}
else if( QGesture* gesture = event->gesture( Qt::PinchGesture ))
{
event->accept( Qt::PinchGesture );
pinch( static_cast< QPinchGesture* >( gesture ));
}
else if( QGesture* gesture = event->gesture( Qt::TapGesture ))
{
event->accept( Qt::TapGesture );
tap( static_cast< QTapGesture* >( gesture ));
}
else if( QGesture* gesture = event->gesture( Qt::TapAndHoldGesture ))
{
event->accept( Qt::TapAndHoldGesture );
tapAndHold( static_cast< QTapAndHoldGesture* >( gesture ));
}
}
void Menu::interpretGesture(std::list<Finger> fingerList)
{
touchedSurface = false;
for (std::list<Finger>::iterator it = fingerList.begin() ; it != fingerList.end() ; ++it)
{
if (!touched)
{
beginGestureX = it->x;
beginGestureY = it->y;
touched = true;
}
if (touched)
{
endGestureX = it->x;
endGestureY = it->y;
}
touchedSurface = true;
}
if (beginGestureX != 0)
{
int distX = beginGestureX - endGestureX;
int distY = beginGestureY - endGestureY;
int distance = sqrt(distX * distX + distY * distY);
// if (distance > 100)
// {
swipe();
// }
// else
// {
// select();
// }
}
if (!touchedSurface)
{
++nbTouched;
}
if (nbTouched > 2)
{
beginGestureX = 0;
beginGestureY = 0;
endGestureX = 0;
endGestureY = 0;
nbTouched = 0;
touched = false;
processingGesture = false;
}
}
void Sender::run()
{
Timer swipeTimer;
swipeTimer.reset();
swipeTimer.resize(2);
swipeTimer.mark(0, true);
while (1) {
// serialize packets to bytes
serialize();
// mark time
swipeTimer.mark(1, true);
// send buffer if enough time has passed
if (swipeTimer.lapMs(1) >= Const::NETWORK_SWIPE_TIME_MS) {
// send out all the bytes
swipe();
// mark time
swipeTimer.mark(0, true);
}
}
}
int main(int argc, char **argv)
{
int length, frame_shift = FRAME_SHIFT, atype = ATYPE, otype = OTYPE;
double *x, thresh_rapt = THRESH_RAPT, thresh_swipe =
THRESH_SWIPE, thresh_reaper = THRESH_REAPER, sample_freq = SAMPLE_FREQ,
L = LOW, H = HIGH;
FILE *fp = stdin;
float_list *top, *cur, *prev;
void rapt(float_list * flist, int length, double sample_freq,
int frame_shift, double min, double max, double threshold,
int otype);
void swipe(float_list * input, int length, double sample_freq,
int frame_shift, double min, double max, double threshold,
int otype);
void reaper(float_list * input, int length, double sample_freq,
int frame_shift, double min, double max, double threshold,
int otype);
if ((cmnd = strrchr(argv[0], '/')) == NULL)
cmnd = argv[0];
else
cmnd++;
while (--argc)
if (**++argv == '-') {
switch (*(*argv + 1)) {
case 'a':
atype = atoi(*++argv);
--argc;
break;
case 's':
sample_freq = atof(*++argv);
--argc;
break;
case 'p':
frame_shift = atoi(*++argv);
--argc;
break;
case 't':
if ((*(*argv + 2)) == '0') {
thresh_rapt = atof(*++argv);
--argc;
} else if ((*(*argv + 2)) == '1') {
thresh_swipe = atof(*++argv);
--argc;
} else {
thresh_reaper = atof(*++argv);
--argc;
}
break;
case 'L':
L = atof(*++argv);
--argc;
break;
case 'H':
H = atof(*++argv);
--argc;
break;
case 'o':
otype = atoi(*++argv);
--argc;
break;
case 'h':
usage(0);
default:
fprintf(stderr, "%s : Invalid option '%c'!\n", cmnd, *(*argv + 1));
usage(1);
}
} else {
fp = getfp(*argv, "rb");
}
sample_freq *= 1000.0;
x = dgetmem(1);
top = prev = (float_list *) malloc(sizeof(float_list));
length = 0;
prev->next = NULL;
while (freadf(x, sizeof(*x), 1, fp) == 1) {
cur = (float_list *) malloc(sizeof(float_list));
cur->f = (float) x[0];
length++;
prev->next = cur;
cur->next = NULL;
prev = cur;
}
if (atype == 0) {
rapt(top->next, length, sample_freq, frame_shift, L, H, thresh_rapt,
otype);
} else if (atype == 1) {
swipe(top->next, length, sample_freq, frame_shift, L, H, thresh_swipe,
otype);
} else {
reaper(top->next, length, sample_freq, frame_shift, L, H, thresh_reaper,
otype);
}
return (0);
}
void upswipe()
{
int loc, i, j, s, cnt, ch;
ch = 1;
for(j=0;j<4;j++)
{
s = 9999;
cnt = 0;
loc = 3;
while(loc>=cnt)
{
if(a[cnt][j]==0)
{
swipe(ch,cnt,loc,j);
loc--;
}
else if(s == a[cnt][j])
{
a[cnt-1][j] = 2*s;
s = 9999;
swipe(ch,cnt,loc,j);
loc--;
}
else
{
s = a[cnt][j];
cnt++;
}
}
}
}
/**
\todo Removals should be done "en vrac", not one by
one. Multiscanner::raw_scan_collection_t is bad because it uses
the robot's pose, not each sensor's at the time of capture.
*/
size_t Mapper2d::
SwipedUpdate(const Frame & pose,
const Multiscanner::raw_scan_collection_t & scans,
double max_remove_distance,
draw_callback * cb)
{
m_freespace_buffer.clear();
m_obstacle_buffer.clear();
m_swipe_check_buffer.clear();
swipe_cb swipe(m_swipe_check_buffer, m_freespace_buffer, *m_travmap);
ssize_t const bbx0(m_travmap->grid.xbegin());
ssize_t const bbx1(m_travmap->grid.xend());
ssize_t const bby0(m_travmap->grid.ybegin());
ssize_t const bby1(m_travmap->grid.yend());
// compute sets of swiped and obstacle cells
for (size_t is(0); is < scans.size(); ++is) {
double const spx(scans[is]->scanner_pose.X());
double const spy(scans[is]->scanner_pose.Y());
double const spt(scans[is]->scanner_pose.Theta());
Scan::array_t const & scan_data(scans[is]->data);
const index_t i0(gridframe.GlobalIndex(spx, spy));
for (size_t ir(0); ir < scan_data.size(); ++ir) {
index_t const ihit(gridframe.GlobalIndex(scan_data[ir].globx, scan_data[ir].globy));
index_t iswipe;
if (scan_data[ir].rho <= max_remove_distance) {
// swipe up to the laser point
iswipe = ihit;
}
else {
// swipe along ray, but stop after max_remove_distance
double const theta(spt + scan_data[ir].phi);
iswipe = gridframe.GlobalIndex(spx + max_remove_distance * cos(theta),
spy + max_remove_distance * sin(theta));
}
gridframe.DrawDDALine(i0.v0, i0.v1, iswipe.v0, iswipe.v1,
bbx0, bbx1, bby0, bby1,
swipe);
if (scan_data[ir].in_range) {
// always insert them into m_obstacle_buffer, do not check
// m_travmap->IsWObst(ihit.v0, ihit.v1), because otherwise
// neighboring rays can erase known W-obstacles
PDEBUG("in range W-obst: global %g %g index %zd %zd\n",
scan_data[ir].globx, scan_data[ir].globy,
ihit.v0, ihit.v1);
m_obstacle_buffer.insert(ihit);
}
}
}
// remove new obstacles from swiped set (due to grid effects, it
// would otherwise be possible for a later ray to erase an
// obstacle seen by an earlier ray)
for (index_buffer_t::const_iterator io(m_obstacle_buffer.begin());
io != m_obstacle_buffer.end(); ++io)
m_freespace_buffer.erase(*io);
return UpdateObstacles(&m_obstacle_buffer, false, &m_freespace_buffer, cb);
}
