void ChFunction_Fillet3::SetupCoefficients() {
ChMatrixDynamic<> ma(4, 4);
ChMatrixDynamic<> mb(4, 1);
ChMatrixDynamic<> mx(4, 1);
mb(0, 0) = y1;
mb(1, 0) = y2;
mb(2, 0) = dy1;
mb(3, 0) = dy2;
ma(0, 3) = 1.0;
ma(1, 0) = pow(end, 3);
ma(1, 1) = pow(end, 2);
ma(1, 2) = end;
ma(1, 3) = 1.0;
ma(2, 2) = 1.0;
ma(3, 0) = 3 * pow(end, 2);
ma(3, 1) = 2 * end;
ma(3, 2) = 1.0;
ChLinearAlgebra::Solve_LinSys(ma, &mb, &mx);
c1 = mx(0, 0);
c2 = mx(1, 0);
c3 = mx(2, 0);
c4 = mx(3, 0);
}
int main()
{
long i,j,h,m,k,p,ans,nn;
scanf("%d%d",&m,&k);
while (m>0)
{
nn=(1<<k)-1;
memset(dp,0,sizeof(dp));
for (i=1;i<=m;i++)
{
scanf("%d",&a[i]);
p=1<<(a[i]-1);
for (j=0;j<=nn;j++)
for (h=1;h<=k;h++)
dp[i][j][h]=dp[i-1][j][h];
for (j=0;j<=nn;j++)
if ((j&p)>0)
dp[i][j][a[i]]=dp[i-1][j][a[i]]+1;
for (j=0;j<=nn;j++)
if ((j&p)==0)
for (h=1;h<=k;h++)
if (dp[i-1][j][h])
dp[i][j+p][a[i]]=mx(dp[i][j+p][a[i]],dp[i-1][j][h]+1);
}
ans=0;
for (j=0;j<=nn;j++)
for (h=1;h<=5;h++)
ans=mx(ans,dp[m][j][h]);
printf("%d\n",m-ans);
scanf("%d%d",&m,&k);
}
return 0;
}
n*g(n u,n w)
{
n y=u/(U-1),*s=put(d,d+v+2,y),z=w/(U-1),k,l=t(y,z,s,&k),
m=l,*r[4],g[4],*f; c p; for(mx(r,s,0),mx(g,k,l);
p=*(1+g)<*g,(m>*(g+1))+(*g<m);s=*f<m?m=*f,*(r+p):s)*(f=g+p+2)=t
(y,z,*(r+p)+=p?-2:2,p+g);rt s;
}
void estiva_zerofillrow(MX *A, long i)
{
long j;
mx(A,1,1) = mx(A,1,1);
i--;
for ( j = 0; j < A->w; j++ )
if(A->A[i][j] != 0.0)
A->A[i][j] = 0.0;
}
main(){
static MX *A; static double *x, *b;
initmx(A,3,3); ary1(x, 3); ary1(b, 3);
mx(A,1,1) = 1.0; mx(A,1,2) = 0.0; b[1] = 3.0;
mx(A,2,1) = 0.0; mx(A,2,2) = 1.0; b[2] = 2.0;
solver(A,x,b);
printf("%f\n", x[1] );
printf("%f\n", x[2] );
}
const char* between(const char* src) {
for (size_t i = 0; i < lo; ++i) {
src = mx(src);
if (!src) return 0;
}
for (size_t i = lo; i <= hi; ++i) {
const char* new_src = mx(src);
if (!new_src) return src;
src = new_src;
}
return src;
}
void estiva_transmx(MX **MT, MX *M)
{
long i, j, J;
initmx((*MT), M->n+1, M->w+1);
mx(M,1,1) = mx(M,1,1);
for(i=1;i<= M->n;i++) for(j=0; j< M->w; j++) {
J = M->IA[i-1][j];
if (J != 0) mx((*MT),J,i) = M->A[i-1][j];
}
}
void ss(long n,long w[MAXN],double a[MAXN],double b[MAXN])
{
long i,j,h;
double pa,pb,ba,bb;
long tw[MAXN];
double ta[MAXN];
double tb[MAXN];
if (n==1)
{
if ((ans<a[1]+b[1]) && (a[1]+b[1]<r))
ans=a[1]+b[1];
return;
}
for (i=1;i<n;i++)
for (j=i+1;j<=n;j++)
{
memset(tw,0,sizeof(tw));
memset(ta,0,sizeof(ta));
memset(tb,0,sizeof(tb));
for (h=1;h<j;h++)
{
tw[h]=w[h];
ta[h]=a[h];
tb[h]=b[h];
}
for (h=j;h<n;h++)
{
tw[h]=w[h+1];
ta[h]=a[h+1];
tb[h]=b[h+1];
}
tw[i]=w[i]+w[j];
pa=w[j]*1.0/(w[i]+w[j]);
pb=1-pa;
ba=mx(pa+a[i],a[j]-pb);
bb=mx(pb+b[j],b[i]-pa);
if (n==2)
{
if ((ans<ba+bb) && (ba+bb<r))
ans=ba+bb;
return;
}
ta[i]=ba;
tb[i]=bb;
ss(n-1,tw,ta,tb);
ta[i]=bb;
tb[i]=ba;
ss(n-1,tw,ta,tb);
}
}
TEST(BitMap, contains__unaligned) {
BitMapMemory mx(aligned_size);
BitMapMemory my(aligned_size);
BitMapView x = mx.make_view(unaligned_size, even_bits);
BitMapView y = my.make_view(unaligned_size, even_bits);
// Check that a missing bit beyond the end of x doesn't count.
{
BitMapView aligned = BitMapView(mx.memory(), aligned_size);
const idx_t index = aligned_size - 2;
STATIC_ASSERT(unaligned_size <= index);
WithBitClear wbc(aligned, index);
EXPECT_TRUE(x.contains(y));
}
// Check that a missing bit in the final partial word does count.
{
idx_t index = unaligned_size - 2;
ASSERT_LE(BitMap::word_align_down(unaligned_size), index);
WithBitClear wbc(x, index);
EXPECT_FALSE(x.contains(y));
}
}
geometry_msgs::Pose JacoPose::constructPoseMsg()
{
geometry_msgs::Pose pose;
tf::Quaternion position_quaternion;
// TODO: QUICK FIX, bake this as a quaternion:
tf::Matrix3x3 mx( 1, 0, 0,
0, cos(ThetaX), -sin(ThetaX),
0, sin(ThetaX), cos(ThetaX));
tf::Matrix3x3 my( cos(ThetaY), 0, sin(ThetaY),
0, 1, 0,
-sin(ThetaY), 0, cos(ThetaY));
tf::Matrix3x3 mz( cos(ThetaZ), -sin(ThetaZ), 0,
sin(ThetaZ), cos(ThetaZ), 0,
0, 0, 1);
tf::Matrix3x3 mg = mx * my * mz;
mg.getRotation(position_quaternion);
// NOTE: This doesn't work, as angles reported by the API are not fixed.
// position_quaternion.setRPY(ThetaX, ThetaY, ThetaZ);
tf::quaternionTFToMsg(position_quaternion, pose.orientation);
pose.position.x = X;
pose.position.y = Y;
pose.position.z = Z;
return pose;
}
int main()
{
long i,j,k,n,m,l,t;
scanf("%d%d",&n,&m);
memset(p,0,sizeof(p));
for (i=1;i<=n;i++)
for (j=1;j<=m;j++)
{
scanf("%lf",&p[i][j]);
p[i][j]=1-p[i][j];
}
memset(dp,0,sizeof(dp));
l=(1<<n)-1;
dp[0]=1.0;
for (i=1;i<=m;i++)
{
for (k=1;k<=n;k++)
{
t=1<<(k-1);
for (j=l;j>=t;j--)
if ((j&t)!=0) dp[j]=mx(dp[j],dp[j-t]*p[k][i]);
}
}
printf("%.9lf\n",dp[l]);
return 0;
}
TEST(BitMap, intersects__unaligned) {
BitMapMemory mx(aligned_size);
BitMapMemory my(aligned_size);
BitMapView x = mx.make_view(unaligned_size, even_bits);
BitMapView y = my.make_view(unaligned_size, zero_bits);
EXPECT_FALSE(x.intersects(y));
// Check that adding a bit beyond the end of y doesn't count.
{
BitMapView aligned_x = BitMapView(mx.memory(), aligned_size);
BitMapView aligned_y = BitMapView(my.memory(), aligned_size);
const idx_t index = aligned_size - 2;
STATIC_ASSERT(unaligned_size <= index);
ASSERT_TRUE(aligned_x.at(index));
WithBitSet wbs(aligned_y, index);
EXPECT_FALSE(x.intersects(y));
}
// Check that adding a bit in the final partial word does count.
{
idx_t index = unaligned_size - 2;
ASSERT_LE(BitMap::word_align_down(unaligned_size), index);
ASSERT_TRUE(x.at(index));
WithBitSet wbs(y, index);
EXPECT_TRUE(x.intersects(y));
}
}
main(int argc, char **argv){
int i, n = 512;
static MX *A; static double *x, *b;
initop(argc,argv);
initmx(A,n+1,8); ary1(x, n+1); ary1(b, n+1);
for ( i =1; i<=n; i++){
mx(A,i,i) = 2.0; b[i] = 1.0;
}
for (i=1;i<n;i++) mx(A,i,i+1) = -1.0;
for (i=1;i<n;i++) mx(A,i+1,i) = -1.0;
solver(A,x,b);
for (i=1;i<=n;i++) printf("%f\n", x[i] );
}
const char* find_first_in_interval(const char* beg, const char* end) {
while ((beg < end) && *beg) {
if (mx(beg)) return beg;
++beg;
}
return 0;
}
PooledConnection* ConnectionPool::get(const char* policyName, LMREG::CppTable* params)
{
PooledConnection* cnn = NULL;
{
JG_S::KAutoThreadMutex mx(m_mx);
ConnectionSetting* cnnSetting = (ConnectionSetting*)m_settings.callPolicy(policyName, *params);
if(!cnnSetting) return NULL;
const char* cnnName = cnnSetting->m_name.c_str();
ConnectionList& lst = m_cnnMap[cnnName];
cnn = lst.pop_front();
if(!cnn)
{
cnn = PooledConnection::Alloc(); cnn->reset();
cnn->m_setting = cnnSetting;
}
}
if(!cnn->keepAlive())
{
this->release(cnn);
return NULL;
}
return cnn;
}
PooledConnection* ConnectionPool::getOrDefault(const char* policyName, LMREG::CppTable* params)
{
if(!m_settings.empty())
{
return this->get(policyName, params);
}
{
PooledConnection* cnn = NULL;
JG_S::KAutoThreadMutex mx(m_mx);
ConnectionSetting* cnnSetting = m_settings.defaultConnection();
if(!cnnSetting) return NULL;
ConnectionList& lst = m_cnnMap[m_settings.defaultName()];
cnn = lst.pop_front();
if(!cnn)
{
cnn = PooledConnection::Alloc(); cnn->reset();
cnn->m_setting = cnnSetting;
}
if(!cnn->keepAlive())
{
this->release(cnn);
return NULL;
}
return cnn;
}
}
void dfs(double r,long f,long p)
{
long i,b;
if (eq(r,0)==0)
{
flag=true;
ansp=p+1;
return;
}
if (p==1)
{
return;
}
if (r<0.000000001) return;
f=mx(long(0.9999999999/r)-1,f);
while ((eq(dd[f],r)==1) && (f<=100000))
{
f++;
}
for (i=f;i<=100000;i++)
{
if (eq(p*dd[i],r)==-1)
{
break;
}
ans[p]=i;
dfs(r-dd[i],i+1,p-1);
if (flag) return;
}
return;
}
void ValueStackSax::pushOnVectorValue(value::Value* val)
{
if (not m_valuestack.empty()) {
if (m_valuestack.top()->isSet()) {
m_valuestack.top()->toSet().add(val);
} else if (m_valuestack.top()->isMap()) {
m_valuestack.top()->toMap().add(m_lastkey, val);
} else if (m_valuestack.top()->isMatrix()) {
value::Matrix& mx(m_valuestack.top()->toMatrix());
if (not val->isNull()) {
mx.addToLastCell(val);
}
mx.moveLastCell();
}
} else {
m_result.push_back(val);
}
if (val->isSet() or val->isMap() or val->isTuple() or val->isTable() or
val->isMatrix()) {
m_valuestack.push(val);
}
if (val->isNull()) {
delete val;
}
}
void ChIntegrableIIorder::StateGather(ChState& y, double& T) {
ChState mx(GetNcoords_x(), y.GetIntegrable());
ChStateDelta mv(GetNcoords_v(), y.GetIntegrable());
this->StateGather(mx, mv, T);
y.PasteMatrix(mx, 0, 0);
y.PasteMatrix(mv, GetNcoords_x(), 0);
}
void ChIntegrableIIorder::StateScatter(const ChState& y, const double T) {
ChState mx(GetNcoords_x(), y.GetIntegrable());
ChStateDelta mv(GetNcoords_v(), y.GetIntegrable());
mx.PasteClippedMatrix(y, 0, 0, GetNcoords_x(), 1, 0, 0);
mv.PasteClippedMatrix(y, GetNcoords_x(), 0, GetNcoords_v(), 1, 0, 0);
StateScatter(mx, mv, T);
}
void ChIntegrableIIorder::StateIncrement(ChState& y_new, // resulting y_new = y + Dy
const ChState& y, // initial state y
const ChStateDelta& Dy // state increment Dy
) {
if (y.GetRows() == this->GetNcoords_x()) {
// Incrementing the x part only, user provided only x in y={x, dx/dt}
StateIncrementX(y_new, y, Dy);
return;
}
if (y.GetRows() == this->GetNcoords_y()) {
// Incrementing y in y={x, dx/dt}.
// PERFORMANCE WARNING! temporary vectors allocated on heap. This is only to support
// compatibility with 1st order integrators.
ChState mx(this->GetNcoords_x(), y.GetIntegrable());
ChStateDelta mv(this->GetNcoords_v(), y.GetIntegrable());
mx.PasteClippedMatrix(y, 0, 0, this->GetNcoords_x(), 1, 0, 0);
mv.PasteClippedMatrix(y, this->GetNcoords_x(), 0, this->GetNcoords_v(), 1, 0, 0);
ChStateDelta mDx(this->GetNcoords_v(), y.GetIntegrable());
ChStateDelta mDv(this->GetNcoords_a(), y.GetIntegrable());
mDx.PasteClippedMatrix(Dy, 0, 0, this->GetNcoords_v(), 1, 0, 0);
mDv.PasteClippedMatrix(Dy, this->GetNcoords_v(), 0, this->GetNcoords_a(), 1, 0, 0);
ChState mx_new(this->GetNcoords_x(), y.GetIntegrable());
ChStateDelta mv_new(this->GetNcoords_v(), y.GetIntegrable());
StateIncrementX(mx_new, mx, mDx); // increment positions
mv_new = mv + mDv; // increment speeds
y_new.PasteMatrix(mx_new, 0, 0);
y_new.PasteMatrix(mv_new, this->GetNcoords_x(), 0);
return;
}
throw ChException("StateIncrement() called with a wrong number of elements");
}
void SBShapelet::SBShapeletImpl::fillXImage(ImageView<double> im,
double x0, double dx, int izero,
double y0, double dy, int jzero) const
{
dbg<<"SBShapelet fillXImage\n";
dbg<<"x = "<<x0<<" + i * "<<dx<<", izero = "<<izero<<std::endl;
dbg<<"y = "<<y0<<" + j * "<<dy<<", jzero = "<<jzero<<std::endl;
const int m = im.getNCol();
const int n = im.getNRow();
double* ptr = im.getData();
const int skip = im.getNSkip();
assert(im.getStep() == 1);
x0 /= _sigma;
dx /= _sigma;
y0 /= _sigma;
dy /= _sigma;
tmv::Matrix<double> mx(m,n);
for (int i=0; i<m; ++i,x0+=dx) mx.row(i).setAllTo(x0);
tmv::Matrix<double> my(m,n);
for (int j=0; j<n; ++j,y0+=dy) my.col(j).setAllTo(y0);
tmv::Matrix<double> val(m,n);
fillXValue(val.view(),mx,my);
typedef tmv::VIt<double,1,tmv::NonConj> It;
It valit = val.linearView().begin();
for (int j=0; j<n; ++j,ptr+=skip) {
for (int i=0; i<m; ++i)
*ptr++ = *valit++;
}
}
/**
* Sets up the relation between a cc event and an action
*/
void MidiMap::registerCCEvent( int parameter , MidiAction * pAction ){
QMutexLocker mx(&__mutex);
if( parameter >= 0 and parameter < 128 )
{
delete __cc_array[ parameter ];
__cc_array[ parameter ] = pAction;
}
}
/**
* Sets up the relation between a note event and an action
*/
void MidiMap::registerNoteEvent( int note, MidiAction* pAction )
{
QMutexLocker mx(&__mutex);
if( note >= 0 && note < 128 ) {
delete __note_array[ note ];
__note_array[ note ] = pAction;
}
}
// returns volume
Real computeOBB(const std::vector<Vector3r>& pts, const Matrix3r& rot, Vector3r& center, Vector3r& halfSize){
const Real inf=std::numeric_limits<Real>::infinity();
Vector3r mn(inf,inf,inf), mx(-inf,-inf,-inf);
FOREACH(const Vector3r& pt, pts){
Vector3r ptT=rot*pt;
mn=mn.cwiseMin(ptT);
mx=mx.cwiseMax(ptT);
}
void estiva_mulmx(double **tp, MX *A, double *x){
long i, j, J, m = A->n, n = A->w;
double *t;
ary1(*tp, m+1);
t = *tp;
for(i=0; i< m; i++) t[i] = 0.0;
mx(A,1,1) = mx(A,1,1);
for(i=0; i< m; i++) for(j=0; j< n; j++) {
J = A->IA[i][j];
if (0<J) t[i] += A->A[i][j]*x[J-1];
}
}
/**
* Sets up the relation between a mmc event and an action
*/
void MidiMap::registerMMCEvent( QString eventString , MidiAction* pAction )
{
QMutexLocker mx(&__mutex);
if( mmcMap[ eventString ] != NULL){
delete mmcMap[ eventString ];
}
mmcMap[ eventString ] = pAction;
}
const char* non_greedy(const char* src) {
while (!delim(src)) {
const char* p = mx(src);
if (p == src) return 0;
if (p == 0) return 0;
src = p;
}
return src;
}
int main()
{
long n,k,l,a,b;
scanf("%ld%ld%ld",&k,&l,&n);
a=mx(calc(k,l,n),calc(k,0,n-1));
b=mn(calc2(k,l,n),calc2(0,l,n-1)+3);
printf("%ld %ld\n",a,b);
return 0;
}
KCharset* KCharset::getLocalCharset()
{
if(m_localCharset) return m_localCharset;
::System::Sync::KAutoThreadMutex mx(_mx_getLocalCharset);
if(m_localCharset) return m_localCharset;
int lang = KLanguage().getCurrentLanguage();
m_localCharset = KCharset::getCharset((KLanguage::EnumLanguage)lang);
return m_localCharset;
}
