int main(int argc, char** argv)
{
ClockModel* model = new ClockModel(0, 0, 0);
ClockApp app(model, argc, argv);
ClockLabelWindow window1(model);
ClockWindow window2(model);
model->setTime(11, 0, 0);
/** 1 second interval. */
app.startTimer(1000);
window1.show();
window1.raise();
window1.activateWindow();
window1.move(300, 400);
window2.show();
window2.raise();
window2.activateWindow();
window2.move(600, 300);
return app.exec();
}
int main ()
{
printf ("Results of cursor_test:\n");
try
{
common::FileSystem::AddSearchPath ("data");
Window window1 (WindowStyle_Overlapped, 400, 300),
window2 (WindowStyle_Overlapped, 400, 300);
window2.SetCursor ("aero_busy.ani");
window1.HideCursor ();
window1.Show ();
window2.Show ();
window1.RegisterEventHandler (WindowEvent_OnClose, &destroy);
window2.RegisterEventHandler (WindowEvent_OnClose, &destroy);
Application::Run ();
return Application::GetExitCode ();
}
catch (std::exception& exception)
{
printf ("exception: %s\n", exception.what ());
}
return 0;
}
int main(int argc,char * argv[])
{
QApplication app(argc,argv);
QDesktopWidget * desktopWidget = QApplication::desktop();
int screenNum = desktopWidget->screenCount();
if (screenNum == 3)
{
QRect rect;
int i;
Dialog window0;
Dialog window1(&window0);
Dialog window2(&window1);
qDebug()<<"window0 "<<window0.winId();
qDebug()<<"window1 "<<window1.winId();
qDebug()<<"window2 "<<window2.winId();
for (i=0;i<screenNum;i++)
{
rect = desktopWidget->screenGeometry(i);
qDebug()<<i<<" "<<rect;
switch(rect.width())
{
case SCREEN0:
{
window0.move(rect.topLeft());
window0.resize(rect.width(),rect.height());
break;
}
case SCREEN1:
{
window1.move(rect.topLeft());
window1.resize(rect.width(),rect.height());
break;
}
case SCREEN2:
{
window2.move(rect.topLeft());
window2.resize(rect.width(),rect.height());
break;
}
}
}
window0.show();
window1.show();
window2.show();
window2.startTimer();
return app.exec();
}
}
USING_NAMESPACE_ACADO
int main( ){
// INTRODUCE THE VARIABLES:
// --------------------------------------------------
DifferentialState xp, yp, zp, phi, theta, psi, vx, vy, vz, p, q, r, cost;
Control u1, u2, u3, u4;
Parameter T;
// DEFINE THE DIMENSIONS OF THE C-FUNCTIONS:
// --------------------------------------------------
CFunction F( 13, myDifferentialEquation );
//CFunction M( NJ, myObjectiveFunction );
//CFunction I( NI, myInitialValueConstraint );
//CFunction E( NE, myEndPointConstraint );
//CFunction H( NH, myInequalityPathConstraint );
DifferentialEquation f ;
// const double h = 0.01;
// DiscretizedDifferentialEquation f(h);
// F.setUserData((void*) &h);
// DEFINE THE OPTIMIZATION VARIABLES:
// --------------------------------------------------
IntermediateState x(17);
x(0) = xp; x(1) = yp; x(2) = zp; x(3) = phi; x(4) = theta; x(5) = psi;
x(6) = vx; x(7) = vy; x(8) = vz; x(9) = p; x(10) = q; x(11) = r; x(12) = cost;
x(13) = u1; x(14) = u2; x(15) = u3; x(16) = u4;
// DEFINE AN OPTIMAL CONTROL PROBLEM:
// ----------------------------------
OCP ocp( 0.0, T, 20 );
ocp.minimizeMayerTerm(T);//x(12));
ocp.subjectTo( f << F(x)*T );
ocp.subjectTo( 3 <= T <= 15);
// Start constraints
for (unsigned int k=0 ; k < 13 ; k++) {
ocp.subjectTo(AT_START, x(k) == 0.0);
}
// End constraints
ocp.subjectTo( AT_END, x(0) == 10.0 );
ocp.subjectTo( AT_END, x(1) == 0.0 );
ocp.subjectTo( AT_END, x(2) == 0.0 );
for (unsigned int k=3 ; k < 12 ; k++) {
ocp.subjectTo(AT_END, x(k) == 0.0 );
}
// Limits on commands
ocp.subjectTo(0 <= x(13) <= 60);
ocp.subjectTo(-5 <= x(14) <= 5);
ocp.subjectTo(-5 <= x(15) <= 5);
ocp.subjectTo(-5 <= x(16) <= 5);
ocp.subjectTo(x(5) == 0.);
ocp.subjectTo( -1.57 <= x(3) <= 1.57);
ocp.subjectTo( -1.57 <= x(4) <= 1.57);
// ocp.subjectTo(x(4) == 0.);
// VISUALIZE THE RESULTS IN A GNUPLOT WINDOW:
// ------------------------------------------
GnuplotWindow window1(PLOT_AT_EACH_ITERATION);
window1.addSubplot( x(0),"x" );
window1.addSubplot( x(1) , "y");
window1.addSubplot( x(2), "z");
window1.addSubplot( x(3),"phi" );
window1.addSubplot( x(4) , "theta");
window1.addSubplot( x(5), "psi");
window1.addSubplot( x(13),"u1" );
window1.addSubplot( x(14),"u2" );
window1.addSubplot( x(15),"u3" );
window1.addSubplot( x(16),"u4" );
// DEFINE AN OPTIMIZATION ALGORITHM AND SOLVE THE OCP:
// ---------------------------------------------------
OptimizationAlgorithm algorithm(ocp);
// algorithm.set( INTEGRATOR_TOLERANCE, 1e-3 );
// algorithm.set( DISCRETIZATION_TYPE, SINGLE_SHOOTING );
//algorithm.set( HESSIAN_APPROXIMATION, FULL_BFGS_UPDATE );
algorithm.set( INTEGRATOR_TYPE, INT_RK45 );
algorithm.set( MAX_NUM_ITERATIONS, 500 );
algorithm.set( KKT_TOLERANCE, 1e-12);
algorithm << window1;
// double testx[16];
// for (i=0 ; i<12 ; i++) {
// testx[i] = 0.;
// }
// testx[4] = 0;
// testx[3] = 1.57;
// testx[13] = 0.;
// testx[14] = 0.;
// testx[15] = 0.;
// testx[16] = 1.;
// double testf[13];
// for (i=0 ; i<12 ; i++) {
// testf[i] = 0;
// }
// myDifferentialEquation( testx, testf, testf );
// for ( unsigned int k=0 ; k<12 ; k++ ) {
// std::cout << testf[k] << std::endl;
// }
algorithm.solve();
return 0;
}
int MenuLoop(){
sf::RenderWindow window1(sf::VideoMode(32*16, 32*8), "Choose your Character");
window1.setMouseCursorVisible(false);
int k=1; //a seconda dell'ultimo tasto premuto nel menu ritorna o 1 o 2 o 3
//icon
sf::Image icon;
if (!icon.loadFromFile(resourcePath()+"icon.png")) {
return EXIT_FAILURE;
}
window1.setIcon(icon.getSize().x, icon.getSize().y, icon.getPixelsPtr());
sf::Text elfName, druidName, paladinName;
elfName.setString("Legolas");
druidName.setString("Radagast");
paladinName.setString("Fra il giusto");
//Font
sf::Font font;
if (!font.loadFromFile(resourcePath()+"Lobster_1.3.otf"))
{
std::cout<< "failed to open font"<<std::endl;
}
sf::Text text;
text.setFont(font);
text.setString("Menu");
text.setCharacterSize(36); // in pixels, not points!
text.setColor(sf::Color::Red);
text.setPosition(32*7-24, 0);
//Label Characters
sf::Text Elflabel, Druidlabel, Paladinlabel;
Elflabel.setFont(font);
Druidlabel.setFont(font);
Paladinlabel.setFont(font);
Elflabel.setString("Elf");
Druidlabel.setString("Druid");
Paladinlabel.setString("Paladin");
Elflabel.setCharacterSize(20); // in pixels, not points!
Druidlabel.setCharacterSize(20); // in pixels, not points!
Paladinlabel.setCharacterSize(20); // in pixels, not points!
Elflabel.setColor(sf::Color::Blue);
Druidlabel.setColor(sf::Color::Green);
Paladinlabel.setColor(sf::Color::White);
Elflabel.setPosition(34*3, 60);
Druidlabel.setPosition(31*7-2, 60);
Paladinlabel.setPosition(31*11-3, 60);
//Character's stats
sf::Text Elfstats;
Elfstats.setFont(font);
Elfstats.setString("attack: 50 \n life: 80");
Elfstats.setCharacterSize(15); // in pixels, not points!
Elfstats.setColor(sf::Color::White);
Elfstats.setPosition(30*3, 145);
sf::Text Druidstats;
Druidstats.setFont(font);
Druidstats.setString("attack: 60 \n life: 70");
Druidstats.setCharacterSize(15); // in pixels, not points!
Druidstats.setColor(sf::Color::White);
Druidstats.setPosition(31*7-5, 145);
sf::Text Paladinstats;
Paladinstats.setFont(font);
Paladinstats.setString("attack: 70 \n life: 60");
Paladinstats.setCharacterSize(15); // in pixels, not points!
Paladinstats.setColor(sf::Color::White);
Paladinstats.setPosition(32*11-10, 145);
//Character frontal sprites
sf::Texture elfTexture, druidTexture, paladinTexture;
sf::Sprite elfSprite, druidSprite, paladinSprite;
if(!elfTexture.loadFromFile(resourcePath()+"Elf.png"))
std::cout<<"Error, could not load elf texture"<<std::endl;
elfSprite.setTexture(elfTexture);
elfSprite.setTextureRect(sf::IntRect(0,64,32,32));
elfSprite.setPosition(32*3,100);
if(!druidTexture.loadFromFile(resourcePath()+"Druid.png"))
std::cout<<"Error, could not load druid texture"<<std::endl;
druidSprite.setTexture(druidTexture);
druidSprite.setTextureRect(sf::IntRect(0,32,32,32));
druidSprite.setPosition(32*7,100);
if(!paladinTexture.loadFromFile(resourcePath()+"Paladin.png"))
std::cout<<"Error, could not load paladin texture"<<std::endl;
paladinSprite.setTexture(paladinTexture);
paladinSprite.setTextureRect(sf::IntRect(0,32,32,32));
paladinSprite.setPosition(32*11,100);
//animazione quadrato di selezione
sf::RectangleShape rectangle;
rectangle.setSize(sf::Vector2f(40, 40));
rectangle.setOutlineColor(sf::Color::Yellow);
rectangle.setOutlineThickness(5);
rectangle.setFillColor(sf::Color::Color(0,0,0,0));
rectangle.setPosition(32*3-4, 100);
sf::Event eevv;
while (window1.isOpen()){
while (window1.pollEvent(eevv)){
if(eevv.type == sf::Event::Closed){
window1.close();
k=-1;
}
else if(sf::Keyboard::isKeyPressed(sf::Keyboard::Escape)){
window1.close();
}
else if (eevv.key.code==sf::Keyboard::Left){
rectangle.setPosition((32*3)-4,100);
k=1;
}
else if(eevv.key.code==sf::Keyboard::Up){
rectangle.setPosition((32*7)-4,100);
k=2;
}
else if(eevv.key.code==sf::Keyboard::Right){
rectangle.setPosition((32*11)-4,100);
k=3;
}
else if(eevv.key.code==sf::Keyboard::Return){
window1.close();
}
window1.clear();
window1.draw(text);
window1.draw(elfSprite);
window1.draw(druidSprite);
window1.draw(paladinSprite);
window1.draw(Elflabel);
window1.draw(Druidlabel);
window1.draw(Paladinlabel);
window1.draw(Elfstats);
window1.draw(Druidstats);
window1.draw(Paladinstats);
window1.draw(rectangle);
window1.display();
}
}
return k;
}
