コード例 #1
0
void InstrumentRenderer::draw(const std::vector<bool> &visibleComps,
                              bool showGuides, bool picking) {
  const auto &compInfo = m_actor.componentInfo();
  std::vector<bool> visited(compInfo.size(), false);

  for (size_t i = compInfo.root(); i != std::numeric_limits<size_t>::max();
       --i) {
    auto type = compInfo.componentType(i);
    if (type == ComponentType::Infinite)
      continue;

    if (type == ComponentType::Grid) {
      if (visibleComps[i]) {
        drawGridBank(i, picking);
        updateVisited(compInfo, i, visited);
      }
      continue;
    }
    if (type == ComponentType::Rectangular) {
      if (visibleComps[i]) {
        drawRectangularBank(i, picking);
        updateVisited(compInfo, i, visited);
      }
      continue;
    }

    if (type == ComponentType::OutlineComposite) {
      if (visibleComps[i]) {
        drawTube(i, picking);
        updateVisited(compInfo, i, visited);
      }
      continue;
    }

    if (type == ComponentType::Structured) {
      if (visibleComps[i]) {
        drawStructuredBank(i, picking);
        updateVisited(compInfo, i, visited);
      }
      continue;
    }

    if (!compInfo.isDetector(i) && !showGuides) {
      visited[i] = true;
      continue;
    }

    if (compInfo.hasValidShape(i) && visibleComps[i] && !visited[i]) {
      visited[i] = true;
      drawSingleDetector(i, picking);
    }
  }
}
コード例 #2
0
void BranchBase::update(vertexName name) {
  if(!visited_nodes[name].first) {
    unexplored_nodes--;
  }

  updateVisited(name);
  map.updateEdgeCount(getLatestNode()->name_,name);


  distance += updateDistance(name);

  updateOdom(name);

 // double odomUnc = updateOdom(name);
 // odom_unc_cost += odomUnc;
  std::shared_ptr<Node> node_ptr = std::make_shared<Node>(name,0,distance,visited_nodes[name].first);

  node_ptr->stamp = *(timestamps_.rbegin());
  node_ptr->position_ = node_list.size();
  node_ptr->previous_offset_ = (double)getPreviousDistance(name);
  node_list.push_back(node_ptr);

  visited_nodes[name].second = node_ptr;
  if(odom_unc_cost > max_odom_unc) {
    please_kill_me = true;
  }
  if(max_odom_cost < odom_unc_cost) {
    max_odom_cost = odom_unc_cost;
  }
}
コード例 #3
0
BranchBase::BranchBase(ros::NodeHandle& n,Graph& graph,vertexName start_vertex): n_(n),map(graph) {
  std::shared_ptr<Node>  start_node= std::make_shared<Node>(start_vertex,0.0,0.0,0.0);

  updateVisited(start_vertex);
  node_list.push_back(start_node);
  unexplored_nodes = map.size();
  //unexplored_cost = unexplored_penality*map.size();
  //unexplored_cost = getunexploredcost();

}
コード例 #4
0
BranchBase::BranchBase(ros::NodeHandle& n,Graph& graph,Node& start_node): n_(n),map(graph) {
  updateVisited(start_node.name_);
  node_list.push_back(std::make_shared<Node>(start_node));
  unexplored_nodes = map.size();

//  unexplored_cost = unexplored_penality*map.size();
 // unexplored_cost = getunexploredcost();


}