int main(int argc, char *argv[]) { int i; char aa [21]; char q[STRLEN]; //Init aa[i], q[i] for (i=0; i<21; i++) aa[i] = random_number_gen(); for (i=0; i<STRLEN; i++) q[i] = random_number_gen(); accPrintCycle(); SmithWaterman(aa, q); accPrintCycle(); printf("Smithwaterman finished\n"); return 1; }
/* function to generate random string */ void random_string_gen(char* string,int pages) { int str_len; char rand_char; int i; for(i = 0; i < 64*pages -1 ; i++) { rand_char = (char)random_number_gen(35,122); string[i] = rand_char; } string[i] = '\0'; }
int main () { int i, j, nrot; float a[N][N], d[N], v[N][N]; for (i = 0; i <= N; i++) for (j = 0; j < N; j++) a[i][j] = 1.2 * random_number_gen (); for (i = 0; i <= N; i++) for (j = 0; j < N; j++) v[i][j] = 0.7 * random_number_gen (); for (i = 0; i <= N; i++) d[i] = random_number_gen (); jacob (a, d, v, &nrot); printf( "\nnumber of Jacobi applied: %i\n", nrot); return 1; }
int main () { CPose3DQuat cpose; TPoint3D point; kftype out_jacob_dryp_dpoint[3][3]; kftype out_jacob_dryp_dpose[3][7]; unsigned int i,j; cpose = (CPose3DQuat) {random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen()}; point = (TPoint3D) { random_number_gen(), random_number_gen(), random_number_gen() }; for (i=0; i<3; i++) for (j=0; j<3; j++) out_jacob_dryp_dpoint[i][j] = random_number_gen(); for (i=0; i<3; i++) for (j=0; j<7; j++) out_jacob_dryp_dpose[i][j] = random_number_gen(); sphericalCoordinates(cpose,point, out_jacob_dryp_dpoint, out_jacob_dryp_dpose ); printf ("SLAM Sperical Coords ACC Done. \n"); return 0; }
int main () { CPose3DQuat X, U; kftype df_dx[7][4]; CPose3DQuat out_X_oplus_U[1]; unsigned int i,j; X = (CPose3DQuat) {random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen()}; U = (CPose3DQuat) {random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen()}; for (i=0; i<7; i++) for (j=0; j<4; j++) df_dx[i][j] = random_number_gen(); accPrintCycle(); jacobiansPoseComposition(X, U, df_dx, out_X_oplus_U); accPrintCycle(); printf ("SLAM jacobians ACC Done. \n"); return 0; }
//------------- SLAM jacobians thread ------------------// void *JacobiansThread(void *arg) { CPose3DQuat X, U; kftype df_dx[7][4]; CPose3DQuat out_X_oplus_U[1]; unsigned int i,j; X = (CPose3DQuat) {random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen()}; U = (CPose3DQuat) {random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen(), random_number_gen()}; for (i=0; i<7; i++) for (j=0; j<4; j++) df_dx[i][j] = random_number_gen(); pthread_barrier_wait(&barrier); jacobiansPoseComposition(X, U, df_dx, out_X_oplus_U); printf ("SLAM jacobians ACC Done. \n"); return NULL; }