// Call simulation gomne
void MainWindow::on_ButtonGOMNE_clicked()
{
if (first_simu == false){
QMessageBox::warning(this,"Abort process",
"To run the alogrithm at a given time, first you need to run a simulation.\nYou can stop it before the end by holding the STOP button.\nYour current simulation will end.");
Simu(2);
}
QElapsedTimer tgomne;
tgomne.start();
RobotTraj();
Init();
par->isinside=0;
par->q = ui->BeaconSpinBox->value();
par->nb_beacon = ui->BeaconSpinBox->value();
//cout<<"q"<<par->q<<endl;
ui->EpsilonSpinBox->setValue(1);
for (uint i=0;i<100;i++){
par->err[i] = 0.2;
}
ui->ErrSpinBox_1->setValue(par->err[0]);
ui->ErrSpinBox_2->setValue(par->err[1]);
ui->ErrSpinBox_3->setValue(par->err[2]);
ui->ErrSpinBox_4->setValue(par->err[3]);
ui->ErrSpinBox_5->setValue(par->err[4]);
//epsilon<0.01 check is just to stop the algorithm when it doesnt find a solution to not freeze the window and block the algorithm.
while(par->isinside!=1 && par->epsilon_sivia>0.01){
if(par->in_perhaps==0){
par->q--;
ui->InterSpinBox->setValue(par->q);
Sivia sivia(*R,par);
//cout<<"q--"<<endl;
}
if(par->in_perhaps==1){
par->epsilon_sivia/=2;
Sivia sivia(*R,par);
ui->EpsilonSpinBox->setValue(par->epsilon_sivia);
}
}
repaint();
if (timeinfo){
QString mess = "Execution time : ";
mess.append(QString::number(tgomne.elapsed()));mess.append(" ms");
QMessageBox::information(this,"Info",mess);
}
ui->InterSpinBox->setValue(par->q);
}
void MainWindow::GOMNE_fixed_q()
{
QElapsedTimer tgomne;
tgomne.start();
RobotTraj();
Init();
par->isinside=0;
par->nb_beacon = ui->BeaconSpinBox->value();
//cout<<"q"<<par->q<<endl;
ui->EpsilonSpinBox->setValue(1);
for (uint i=0;i<100;i++){
par->err[i] = 0.2;
}
ui->ErrSpinBox_1->setValue(par->err[0]);
ui->ErrSpinBox_2->setValue(par->err[1]);
ui->ErrSpinBox_3->setValue(par->err[2]);
ui->ErrSpinBox_4->setValue(par->err[3]);
ui->ErrSpinBox_5->setValue(par->err[4]);
//epsilon<0.01 check is just to stop the algorithm when it doesnt find a solution to not freeze the window
while(par->isinside!=1 && par->epsilon_sivia>0.01){
if(par->in_perhaps==0){
par->q--;
ui->InterSpinBox->setValue(par->q);
Sivia sivia(*R,par);
//cout<<"q--"<<endl;
}
if(par->in_perhaps==1){
par->epsilon_sivia/=2;
Sivia sivia(*R,par);
ui->EpsilonSpinBox->setValue(par->epsilon_sivia);
}
}
SLAM(step);
repaint();
if (timeinfo){
QString mess = "Execution time : ";
mess.append(QString::number(tgomne.elapsed()));mess.append(" ms");
QMessageBox::information(this,"Info",mess);
}
ui->InterSpinBox->setValue(par->q);
}
void MainWindow::on_ZoomReset_clicked()
{
xmin = -25;
xmax = 25;
ymin = -25;
ymax = 25;
repaint();
R = new repere(this,ui->graphicsView,xmin,xmax,ymin,ymax);
Sivia sivia(*R,par);
repaint();
}
void MainWindow::on_ZoomZone_clicked()
{
xmin = par->robot_position[0]-5;
xmax = par->robot_position[0]+5;
ymin = par->robot_position[1]-5;
ymax = par->robot_position[1]+5;
repaint();
R = new repere(this,ui->graphicsView,xmin,xmax,ymin,ymax);
Sivia sivia(*R,par);
repaint();
}
void MainWindow::on_Zoomminus_clicked()
{
xmin *= 2;
xmax *= 2;
ymin *= 2;
ymax *= 2;
repaint();
R = new repere(this,ui->graphicsView,xmin,xmax,ymin,ymax);
Sivia sivia(*R,par);
repaint();
}
void MainWindow::on_ButtonStart_clicked()
{
Init();
// Build the frame
double xmin=-10;
double xmax=10;
double ymin=-10;
double ymax=10;
Frame* frame = new Frame(this,ui->graphicsView,xmin,xmax,ymin,ymax);
// run SIVIA
Sivia sivia(*frame,epsilon);
}
// Call SIVIA with the current parameters on the GUI
void MainWindow::on_ButtonStartParam_clicked()
{
QElapsedTimer timer;
timer.start();
RobotTraj();
Init();
Sivia sivia(*R,par);
R->DrawRobot(par->robot_position[0],par->robot_position[1],par->robot_position[3]);
repaint();
if (timeinfo){
QString mess = "Execution time : ";
mess.append(QString::number(timer.elapsed()));mess.append(" ms");
QMessageBox::information(this,"Info",mess);
}
}
// Call simulation 'Soft Constraints'
void MainWindow::on_ButtonFindSol_clicked()
{
if (first_simu == false){
QMessageBox::warning(this,"Abort process",
"To run the alogrithm at a given time, first you need to run a simulation.\nYou can stop it before the end by holding the STOP button.\nYour current simulation will end.");
Simu(1);
}
QElapsedTimer timer;
timer.start();
RobotTraj();
Init();
ui->EpsilonSpinBox->setValue(0.5);
if(ui->BeaconSpinBox->value()!=5)
QMessageBox::warning(this,"Attention","This method only works with 5 beacons. Now running simulation with 5 beacons.\n Press Ok to continue...");
ui->BeaconSpinBox->setValue(5);
ui->InterSpinBox->setValue(par->nb_beacon);
for (uint i=0;i<(sizeof(par->err)/sizeof(*par->err));i++){
par->err[i] = 0.00;
}
Sivia sivia(*R,par);
uint i=0;
//double startstep=0.05+floor(10*par->epsilon_sivia)/10-floor(10*par->epsilon_sivia)/20;
double startstep=1;
double pas = 0.5*(1+par->erroutlier/10);
int nstep = 2;
int stepctr=0;
while(pas>0.05){
int forw=0;
int back=0;
while(par->isinside==1){
for (uint j=0;j<par->nb_beacon;j++){
par->err[j]=startstep;
if(i==j) par->err[j]=startstep-((stepctr+1))*pas;
}
Sivia sivia(*R,par);
stepctr=(stepctr+1)%nstep;
if (stepctr==0){
i++;
i = i % par->nb_beacon;
if(i==0) startstep=startstep-pas;
}
back++;
}
// qDebug()<<"err back: "<<"is "<<par->err[0]<<";"<<par->err[1]<<";"<<par->err[2]<<";"<<par->err[3]<<";"<<par->err[4]<<endl;
while(par->isinside==0){
for (uint j=0;j<par->nb_beacon;j++){
par->err[j]=startstep;
if(i==j) par->err[j]=startstep+((stepctr+1))*pas;
}
Sivia sivia(*R,par);
stepctr=(stepctr+1)%nstep;
if (stepctr==0){
i++;
i = i % par->nb_beacon;
if(i==0) startstep=startstep+pas;
}
forw++;
}
//qDebug()<<"par->err for: "<<"is "<<par->err[0]<<";"<<par->err[1]<<";"<<par->err[2]<<";"<<par->err[3]<<";"<<par->err[4]<<endl;
if(back>forw)
startstep/=0.5;
else
startstep*=0.5;
//cout<<"pas "<<pas<<endl;
pas/=2;
}
ui->ErrSpinBox_1->setValue(par->err[0]);
ui->ErrSpinBox_2->setValue(par->err[1]);
ui->ErrSpinBox_3->setValue(par->err[2]);
ui->ErrSpinBox_4->setValue(par->err[3]);
ui->ErrSpinBox_5->setValue(par->err[4]);
repaint();
if (timeinfo){
QString mess = "Execution time : ";
mess.append(QString::number(timer.elapsed()));mess.append(" ms");
QMessageBox::information(this,"Info",mess);
}
}
