void check_accelerations(const double amin_[N_MOTORS], const double amax_[N_MOTORS], const Eigen::Matrix <double,
N_SEGMENTS, N_MOTORS> & m3w_, const Eigen::Matrix <double, N_SEGMENTS, N_MOTORS> & m2w_, const Eigen::Matrix <
double, N_SEGMENTS, 1> taus_)
{
#if 0
cout << "amin:\n";
for (int mtr = 0; mtr < N_MOTORS; ++mtr) {
cout << amin_[mtr] << " ";
}
cout << endl;
cout << "amax:\n";
for (int mtr = 0; mtr < N_MOTORS; ++mtr) {
cout << amax_[mtr] << " ";
}
cout << endl;
#endif
// Compute acceleration values at segment beginning.
Eigen::Matrix <double, N_SEGMENTS, N_MOTORS> a_start = 2.0 * m2w_;
#if 0
cout << "a_start:\n" << a_start << endl;
#endif
// Compute acceleration values at the segment end.
Eigen::Matrix <double, N_SEGMENTS, N_MOTORS> a_final;
for (int mtr = 0; mtr < N_MOTORS; ++mtr) {
a_final.col(mtr) = 6.0 * (m3w_.col(mtr).cwise() * taus_) + 2.0 * m2w_.col(mtr);
}
#if 0
cout << "a_final:\n" << a_final << endl;
#endif
// Check conditions for all segments and motors.
for (int sgt = 0; sgt < N_SEGMENTS; ++sgt)
for (int mtr = 0; mtr < N_MOTORS; ++mtr) {
if (a_start(sgt, mtr) > amax_[mtr])
BOOST_THROW_EXCEPTION(nfe_motor_acceleration_constraint_exceeded() << constraint_type(MAXIMUM_CONSTRAINT) << motor_number(mtr) << segment_number(sgt) << constraint_value(amax_[mtr]) << desired_value(a_start(sgt, mtr)));
else if (a_final(sgt, mtr) > amax_[mtr])
BOOST_THROW_EXCEPTION(nfe_motor_acceleration_constraint_exceeded() << constraint_type(MAXIMUM_CONSTRAINT) << motor_number(mtr) << segment_number(sgt) << constraint_value(amax_[mtr]) << desired_value(a_final(sgt, mtr)));
else if (a_start(sgt, mtr) < amin_[mtr])
BOOST_THROW_EXCEPTION(nfe_motor_acceleration_constraint_exceeded() << constraint_type(MINIMUM_CONSTRAINT) << motor_number(mtr) << segment_number(sgt) << constraint_value(amin_[mtr]) << desired_value(a_start(sgt, mtr)));
else if (a_final(sgt, mtr) < amin_[mtr])
BOOST_THROW_EXCEPTION(nfe_motor_acceleration_constraint_exceeded() << constraint_type(MINIMUM_CONSTRAINT) << motor_number(mtr) << segment_number(sgt) << constraint_value(amin_[mtr]) << desired_value(a_final(sgt, mtr)));
}
}
void link_check::inspect(
const string & library_name,
const path & full_path, // example: c:/foo/boost/filesystem/path.hpp
const string & contents ) // contents of file to be inspected
{
if (contents.find( "boostinspect:" "nounlinked" ) != string::npos)
m_paths[ relative_to( full_path, search_root_path() ) ] |= m_nounlinked_errors;
bool no_link_errors =
(contents.find( "boostinspect:" "nolink" ) != string::npos);
// build bookmarks databases
bookmarks.clear();
bookmarks_lowercase.clear();
string::const_iterator a_start( contents.begin() );
string::const_iterator a_end( contents.end() );
boost::match_results< string::const_iterator > a_what;
boost::match_flag_type a_flags = boost::match_default;
if(!is_css(full_path))
{
string previous_id;
while( boost::regex_search( a_start, a_end, a_what, html_bookmark_regex, a_flags) )
{
// a_what[0] contains the whole string iterators.
// a_what[1] contains the tag iterators.
// a_what[2] contains the attribute name.
// a_what[4] contains the bookmark iterators.
if (a_what[4].matched)
{
string tag( a_what[1].first, a_what[1].second );
boost::algorithm::to_lower(tag);
string attribute( a_what[2].first, a_what[2].second );
boost::algorithm::to_lower(attribute);
string bookmark( a_what[4].first, a_what[4].second );
bool name_following_id = ( attribute == "name" && previous_id == bookmark );
if ( tag != "meta" && attribute == "id" ) previous_id = bookmark;
else previous_id.clear();
if ( tag != "meta" && !name_following_id )
{
bookmarks.insert( bookmark );
// std::cout << "******************* " << bookmark << '\n';
// w3.org recommends case-insensitive checking for duplicate bookmarks
// since some browsers do a case-insensitive match.
string bookmark_lowercase( bookmark );
boost::algorithm::to_lower(bookmark_lowercase);
std::pair<bookmark_set::iterator, bool> result
= bookmarks_lowercase.insert( bookmark_lowercase );
if (!result.second)
{
++m_duplicate_bookmark_errors;
int ln = std::count( contents.begin(), a_what[3].first, '\n' ) + 1;
error( library_name, full_path, "Duplicate bookmark: " + bookmark, ln );
}
}
}
a_start = a_what[0].second; // update search position
a_flags |= boost::match_prev_avail; // update flags
a_flags |= boost::match_not_bob;
}
}
// process urls
string::const_iterator start( contents.begin() );
string::const_iterator end( contents.end() );
boost::match_results< string::const_iterator > what;
boost::match_flag_type flags = boost::match_default;
if(!is_css(full_path))
{
while( boost::regex_search( start, end, what, html_url_regex, flags) )
{
// what[0] contains the whole string iterators.
// what[1] contains the element type iterators.
// what[3] contains the URL iterators.
if(what[3].matched)
{
string type( what[1].first, what[1].second );
boost::algorithm::to_lower(type);
// TODO: Complain if 'link' tags use external stylesheets.
do_url( string( what[3].first, what[3].second ),
library_name, full_path, no_link_errors,
type == "a" || type == "link", contents.begin(), what[3].first );
}
start = what[0].second; // update search position
flags |= boost::match_prev_avail; // update flags
flags |= boost::match_not_bob;
}
}
while( boost::regex_search( start, end, what, css_url_regex, flags) )
{
// what[0] contains the whole string iterators.
// what[2] contains the URL iterators.
if(what[2].matched)
{
do_url( string( what[2].first, what[2].second ),
library_name, full_path, no_link_errors, false,
contents.begin(), what[3].first );
}
start = what[0].second; // update search position
flags |= boost::match_prev_avail; // update flags
flags |= boost::match_not_bob;
}
}
