node* nodePost (int pre[], int* preIndex,int low, int high, int size)
{
// Base case
if (*preIndex >= size || low > high)
return NULL;
// The first node in preorder traversal is root. So take the node at
// preIndex from pre[] and make it root, and increment preIndex
node* root = nodeInit ( pre[*preIndex] );
*preIndex = *preIndex + 1;
// If the current subarry has only one element, no need to recur
if (low == high)
return root;
// Search for the first element greater than root
int i;
for ( i = low; i <= high; ++i )
if ( pre[ i ] > root->data )
break;
// Use the index of element found in postorder to divide postorder array in
// two parts. Left subtree and right subtree
root->left = nodePost ( pre, preIndex, *preIndex, i - 1, size );
root->right = nodePost ( pre, preIndex, i, high, size );
return root;
}
WdysCtrl::WdysCtrl(ros::NodeHandle nh):
nh_(nh),
is_moving(0),
is_backing(0),
open_count(0)
{
nodeInit();
std_msgs::Int32 start_msg;
start_msg.data = 1;
for (int i = 0; i < 5; i++)
door_signal_publisher_.publish(start_msg);
printf("WdysCtrl Ready!\n");
}
tnode* createTree(char exp[])
{
tnode *op,*l,*r;
int i=0,j=1,k;
while(i<strlen(exp))
{
if(isalpha(exp[i]) || exp[i] == '#')
{
push(nodeInit(exp[i++],j++));
continue ;
}
op = nodeInit(exp[i++],0);
if(op->key == '*')
{
l = pop();
op->left = l;
strcpy(op->first,l->first);
strcpy(op->last,l->last);
for(k=0;k<strlen(op->first);k++)
{
strcat(follow[op->first[k] - 48] ,op->last);
strcpy(follow[op->first[k] - 48],rmv(follow[op->first[k] - 48]));
}
}
else
{
r = pop();
l = pop();
op->left = l;
op->right = r;
if( op->key == '/')
{
strcpy(op->first,l->first);
strcat(op->first,r->first);
strcpy(op->last,l->last);
strcat(op->last,r->last);
if(l->nul == 1 || r->nul == 1)
op->nul = 1;
else
op->nul = 0;
}
else
{
strcpy(op->first,l->first);
if(l->nul == 1)
strcat(op->first,r->first);
strcpy(op->last,r->last);
if(r->nul == 1)
strcat(op->last,l->last);
if(l->nul == 1 && r->nul == 1)
op->nul = 1;
else
op->nul = 0;
for(k=0;k<strlen(l->last);k++)
{
strcat(follow[l->last[k] - 48] ,r->first);
strcpy(follow[l->last[k] - 48],rmv(follow[l->last[k] - 48]));
}
}
}
push(op);
}
return pop();
}