int main()
{
{
SGE_ProfileFn(&g_profiler);
bla();W
}
bla();
std::thread t(foo);
std::thread t2(bla);
t.join();
t2.join();
for(auto& perThread : g_profiler.m_perThreadProfiling)
{
printf("Thread\n\n");
for(int t = 0; t < perThread.second.m_rootScopes.size(); ++t)
{
drawPrintProfiling(&perThread.second, perThread.second.m_rootScopes[t], 0);
}
}
return 0;
}
void MainFrame::OnOpen(wxCommandEvent& event)
{
wxString caption = wxT("Choose a file");
wxString wildcard = wxT("BMP files (*.bmp)|*.bmp");
wxString defaultDir = wxT("D:\\Buhler\\VisualStudioProjects\\FlourAnalyzer\\media");
wxString defaultFilename = wxEmptyString;
wxFileDialog dialog(this, caption, defaultDir, defaultFilename, wildcard);
if( dialog.ShowModal() == wxID_OK)
{
wxString path = dialog.GetPath();
int filterIndex = dialog.GetFilterIndex();
// Load image
wxBitmap bitmap(path, wxBITMAP_TYPE_BMP);
if(bitmap.Ok())
{
//wxMemoryDC memDC;
//memDC.SelectObject(bitmap);
//memDC.DrawBitmap(bitmap,0,0,true);
wxClientDC bla(this);
this->SetSize(bitmap.GetSize());
bla.DrawBitmap(bitmap,0,0,true);
}
else
{
wxMessageBox(wxT("Error loading file."));
}
}
}
int main (void)
{
bla (0);
if (!j)
abort ();
return 0;
}
void test2(void)
{
unsigned i;
/* But not here. */
for (x = 0; x < 100; x++)
bla ();
}
int main(void)
{
struct test2 pom;
if (bla (&pom.sub, &pom) != 8)
abort ();
return 0;
}
int main()
{
printf(DEFINE"\n");
printf(DEFINEWITHSPACE"\n");
printf(DEFINEWITHTAB"\n");
printf(DEFINEWITHBACKSLASH"\n");
return bla();
}
void foo(int i)
{
char *s = "abcde";
if (i)
{
s = "defgh";
goto middle;
}
start:
bla ();
middle:
if (bla ())
goto start;
bar (strlen (s));
}
static int test(int a, int b, int c)
{
int res;
if (a < b)
res = 1;
else
res = 2;
if (b < c)
res += 1;
bla(&c);
return res;
}
void thread_latch_through_header (void)
{
int i = 0;
int first = 1;
do
{
if (first)
foo ();
first = 0;
bla ();
} while (i++ < 100);
}
void dont_thread_2 (int first)
{
int i = 0;
do
{
if (first)
foo ();
else
bar ();
first = 0;
bla ();
} while (i++ < 100);
}
int foo(void)
{
int i;
int sum;
/* This loop used to appear to be too large for unrolling. */
for (i = 0; i < 4; i++)
{
sum += bla (i);
sum += bla (2*i);
sum += bla (3*i);
sum += bla (4*i);
sum += bla (5*i);
sum += bla (6*i);
sum += bla (7*i);
sum += bla (8*i);
}
return sum;
}
void foo(void)
{
int k;
goto forward;
back:
bla (k);
return;
forward:
{
int i = bar ();
k = i;
goto back;
}
}
void test1 (void)
{
unsigned i;
/* Only one loop should be found here. */
i = 0;
while (1)
{
i++;
if (i == 100)
break;
if (foo ())
bla ();
else
bar ();
}
}
void dont_thread_4 (int a, int nfirst)
{
int i = 0;
int first;
if (a)
first = 0;
else
first = 1;
do
{
if (first)
foo ();
else
bar ();
first = nfirst;
bla ();
} while (i++ < 100);
}
void test5 (void)
{
unsigned i, j;
/* Both subloop and non-subloop back edges. */
i = j = 0;
while (1)
{
j++;
foo ();
if (j < 100)
continue;
j = 0;
i++;
if (i == 100)
break;
if (foo ())
bla ();
else
bar ();
}
}
definition()
{
bla(coperator_stack::push3<helper>); // { dg-error "" }
}
int foo() { return bla();}
rtems_task Init( rtems_task_argument ignored ) {
//printk( "*** HELLO WORLD TEST PRINTK ***\n" );
//debug( "*** HELLO WORLD TEST DEBUG ***\n" );
printf( "reg (addr = %p) = %X\n", (void*)0x00000018, readl( 0x00000018 ) );
int j = 0;
for( j = 17; j < 96; j++ ) {
timer_interrupt_handler_install( j );
}
bla();
print_gptimer();
print_intc();
writel( 0xFFFFFFDF, &intc_base->bla[ 1 ].INTCPS_MIR );
enable_gptimer();
rtems_interrupt_level level;
rtems_interrupt_disable( level );
print_gptimer();
print_intc();
/* disable_wdts();
WDTIMER2_WCLR = ENABLE_WDT_PRESCALER | SET_WDT_PRESCALER( 1 );
WDTIMER3_WCLR = ENABLE_WDT_PRESCALER | SET_WDT_PRESCALER( 1 );
WDTIMER2_WLDR = 0xFFFFFFF0;
WDTIMER3_WLDR = 0xFFFFFFF0;
WDTIMER2_WTGR = 0x00000001;
WDTIMER3_WTGR = 0x00000001;
check_reg( 0x48314024 );
check_reg( 0x49030024 );
check_reg( 0x48314030 );
check_reg( 0x49030030 );
check_reg( 0x4831402C );
check_reg( 0x4903002C );
check_reg( 0x48314018 );
check_reg( 0x49030018 );
enable_wdts();
printf( "WDTIMER2_WCRR = %X\n", WDTIMER2_WCRR );
printf( "WDTIMER3_WCRR = %X\n", WDTIMER2_WCRR );*/
/*i2c_init( CONFIG_SYS_I2C_SPEED, CONFIG_SYS_I2C_SLAVE );
imw( 0x4B, 0x29, 0x00 );
imw( 0x4B, 0x1C, 0x36 );
imw( 0x4B, 0x1D, 0x54 );
imw( 0x4B, 0x1E, 0x20 );
imw( 0x4B, 0x1F, 0x07 );
imw( 0x4B, 0x20, 0x08 );
imw( 0x4B, 0x21, 0x12 );
imw( 0x4B, 0x29, 0x01 );
imd( 0x4B, 0x2A, 1 );*/
int i;
for( i = 0; i < 10; i++ ) {
//udelay( 500000 );
//imd( 0x4B, 0x1C, 10 );
//printf( "WDTIMER2_WCRR = %X\n", WDTIMER2_WCRR );
//printf( "WDTIMER3_WCRR = %X\n", WDTIMER2_WCRR );
//check_reg( 0x48314018 );
//check_reg( 0x49030018 );
print_gptimer();
print_intc();
}
rtems_interrupt_enable( level );
print_gptimer();
print_intc();
/*
imw 0x4A 0x0D 0x00
imw 0x4A 0x00 0x36
imw 0x4A 0x01 0x54
imw 0x4A 0x02 0x90
imw 0x4A 0x03 0x05
imw 0x4A 0x04 0x09
imw 0x4A 0x05 0x97
imw 0x4A 0x0D 0x01
imd 0x4A 0x00 10
*/
//printf( "*** HELLO WORLD TEST PRINTF ***\n" );
exit( 0 );
}
rw::math::Q pathPlanning::invKin(double dx, double dy , double dz)
{
rw::kinematics::State state = this->state;
rw::math::Transform3D<> t_tool_base = this->device.get()->baseTframe(this->toolFrame,state);
Eigen::MatrixXd jq(this->device.get()->baseJframe(this->toolFrame,state).e().cols(), this->device.get()->baseJframe(this->toolFrame,state).e().rows());
jq = this->device.get()->baseJframe(this->toolFrame,state).e();
//cout << "Determinant: " <<rw::math::LinearAlgebra::det(jq) << endl;
//Least square solver - dq = [j(q)]T (j(q)[j(q)]T)⁻1 du <=> dq = A*du
Eigen::MatrixXd A (6,6);
//A = jq.transpose()*(jq*jq.transpose()).inverse();
A = (jq*jq.transpose()).inverse()*jq.transpose();
std::vector<rw::math::Transform3D<> > out = sphere(dx,dy,dz);
std::ofstream outfile;
outfile.open("q_conf.txt", std::ios_base::app);
cout << "invKin" << endl;
for(unsigned int i = 0; i <= out.size() ; ++i )
{
cout << "\r"+to_string(i);
rw::math::Vector3D<> dif_p = out[i].P()-t_tool_base.P();
Eigen::Matrix3d dif = out[i].R().e()- t_tool_base.R().e();
rw::math::Rotation3D<> dif_r(dif);
rw::math::RPY<> dif_rot(dif_r);
Eigen::VectorXd du(6);
du(0) = dif_p[0];
du(1) = dif_p[1];
du(2) = dif_p[2];
du(3) = dif_rot[0];
du(4) = dif_rot[1];
du(5) = dif_rot[2];
Eigen::VectorXd q(6);
q = A*du;
rw::math::Q q_current;
q_current = this->device->getQ(this->state);
rw::math::Q dq(q);
rw::math::Q q_new = q_current+ dq;
if(!collision(q_new) && !within_bound(q_new))
{
std::string text = "setQ{" + to_string(q_new[0]) + ", " + to_string(q_new[1]) + ", " + to_string(q_new[2]) + ", " + to_string(q_new[3]) + ", " + to_string(q_new[4]) + ", " + to_string(q_new[5]) + "}";
//cout << text << endl;
outfile << text << endl;
}
else
{
cout << endl;
//cout << "\rfalse";
//cout << "collision" << endl;
}
}
rw::math::Q bla(6); //Just used the text file for debugging purposes, Which why I just return a random Q config.
return bla;
}
