// template:
// must contain one and only one instance of '$(f)' (without the quotes)
// if if !canEndWithKey -> must not end with $(f)
// if starts with $(f) then it expands to the full path + file name.
// if doesn't start with $(f) then it's expanded to file name only (with extension)
// if doesn't start with $(f) and ends up relative,
// then it's relative to base (not to cwd)
// No checks are performed if the result file name can be created.
// If this proves useful, we can move it into Path:: . Right now there's no need.
static wxString ApplyTemplate(const wxString &name, const wxDirName &base,
const wxString &fileTemplate, const wxString &filename,
bool canEndWithKey)
{
wxString tem(fileTemplate);
wxString key = INDEX_TEMPLATE_KEY;
tem = tem.Trim(true).Trim(false); // both sides
size_t first = tem.find(key);
if (first == wxString::npos // not found
|| first != tem.rfind(key) // more than one instance
|| !canEndWithKey && first == tem.length() - key.length())
{
Console.Error(L"Invalid %s template '%s'.\n"
L"Template must contain exactly one '%s' and must not end with it. Abotring.",
WX_STR(name), WX_STR(tem), WX_STR(key));
return L"";
}
wxString fname(filename);
if (first > 0)
fname = Path::GetFilename(fname); // without path
tem.Replace(key, fname);
if (first > 0)
tem = Path::Combine(base, tem); // ignores appRoot if tem is absolute
return tem;
}
void Text::tokenize(Char space, Text &text) const
{
TextIter iter(*this);
TextItem::Type type;
const Char *p;
size_t n;
const Location *loc;
while (iter.next(type, p, n, loc)) {
switch (type) {
case TextItem::data:
text.addCharsTokenize(p, n, *loc, space);
break;
case TextItem::sdata:
case TextItem::cdata:
{
text.addEntityStart(*loc);
text.addCharsTokenize(p, n, *loc, space);
Location tem(*loc);
tem += n;
text.addEntityEnd(tem);
}
break;
case TextItem::ignore:
text.ignoreChar(*p, *loc);
break;
default:
text.addSimple(type, *loc);
break;
}
}
if (text.size() > 0 && text.lastChar() == space)
text.ignoreLastChar();
}
const char* const xlwLogger::GetTime() {
time_t tem(time(&theTime[2]));
char * timePtr = asctime(gmtime(&tem));
for(unsigned long i(0);i<8;i++)timeTemp[i]=wchar_t(timePtr[i+11]);
timeTemp[8]=0;
return timeTemp;
}
int tem(int n, int find){
if(n <= 0)
return 0;
if(n % 10 == find)
return 1;
return tem(n/10, find);
}
int longestIncreasingPath(vector<vector<int>>& matrix) {
if(matrix.size()==0)return 0;
int Max=0;
vector<int> tem(matrix[0].size(),0);
vector<vector<int>> hash(matrix.size(), tem);
for(int i = 0; i< matrix.size(); i++)
for(int j = 0; j < matrix[0].size(); j++)
Max = max(DFS(matrix, i, j, INT_MIN, hash), Max);
return Max;
}
int main(){
int i = 0, m = 10000000, k = 0;
for(i = 1; i < m; i++, k = 0){
if(i % 3 == 0 || tem(i, 3)){
printf("Fizz");
k++;
}
if(i % 5 == 0 || tem(i, 5)){
printf("Buzz");
k++;
}
if(!k)
printf("%d", i);
printf("\n");
}
return 0;
}
P PointerTable<P, K, HF, KF>::insert(P p, Boolean replace)
{
size_t h;
if (vec_.size() == 0) {
vec_.assign(8, P(0));
usedLimit_ = 4;
h = startIndex(KF::key(*p));
}
else {
for (h = startIndex(KF::key(*p)); vec_[h] != 0 ; h = nextIndex(h))
if (KF::key(*vec_[h]) == KF::key(*p)) {
if (replace) {
P tem(vec_[h]);
vec_[h] = p;
return tem;
}
else
return vec_[h];
}
if (used_ >= usedLimit_) {
if (vec_.size() > size_t(-1)/2) {
if (usedLimit_ == vec_.size() - 1)
abort(); // FIXME throw an exception
else
usedLimit_ = vec_.size() - 1;
}
else {
// rehash
Vector<P> oldVec(vec_.size()*2, P(0));
vec_.swap(oldVec);
usedLimit_ = vec_.size() / 2;
for (size_t i = 0; i < oldVec.size(); i++)
if (oldVec[i] != 0) {
size_t j;
for (j = startIndex(KF::key(*oldVec[i]));
vec_[j] != 0;
j = nextIndex(j))
;
vec_[j] = oldVec[i];
}
for (h = startIndex(KF::key(*p)); vec_[h] != 0; h = nextIndex(h))
;
}
}
}
used_++;
vec_[h] = p;
return 0;
}
//toj为目标关节的编号，一般为最末端的关节
void Kinematics::InverseKine(int toj)
{
Matrix err(6,1);
Matrix tem(6,1);
float dq[6];
const float lambda = 0.99f;
ForwardKine(0);
Matrix Jacobian(6);
for (int n=0; n<10 ; n++)
{
CalJacobian(Jacobian);
//Jacobian.PrintMatrix();
if (!Jacobian.Invert())
{
//std::cout<<"NO Jacobian Invert"<<std::endl;
}
CalErr(toj,err);
//err.PrintMatrix();
if (err.Norm()<1E-6f)
{
//TestPrint();
return;
}
tem =Jacobian * err * lambda;
//tem.PrintMatrix();
for (int n=0; n<6; n++)
dq[n] = tem.GetElement(n,0);
for (unsigned int i = 1 ; i<mJointU.size(); i++)
{
mJointU[i].q = mJointU[i].q + dq[i-1];
}
ForwardKine(0);
}
//TestPrint();
}
void Kinematics::CalJacobian(Matrix &Jacobian)
{
Matrix tem_i_r(3,3);
Matrix tem_i_a(3,1);
Matrix tem(3,1);
float u1,u2,u3,v1,v2,v3;
for (unsigned int i =1; i<mJointU.size(); i++)
{
tem_i_r.SetData(mJointU[i].R);
tem_i_a.SetData(mJointU[i].Ax);
tem = tem_i_r * tem_i_a;
//tem.PrintMatrix();
v1 = mTarget.P[0] - mJointU[i].P[0];
v2 = mTarget.P[1] - mJointU[i].P[1];
v3 = mTarget.P[2] - mJointU[i].P[2];
u1 = tem.GetElement(0,0);
u2 = tem.GetElement(1,0);
u3 = tem.GetElement(2,0);
//u x v = { u2v3-v2u3 , u3v1-v3u1 , u1v2-u2v1 }
Jacobian.SetElement(0,i-1,u2*v3 - v2*u3 );
Jacobian.SetElement(1,i-1,u3*v1 - v3*u1 );
Jacobian.SetElement(2,i-1,u1*v2 - v1*u2 );
Jacobian.SetElement(3,i-1,u1);
Jacobian.SetElement(4,i-1,u2);
Jacobian.SetElement(5,i-1,u3);
}
Jacobian.SetElement(0,5,0.0f );
Jacobian.SetElement(1,5,0.0f );
Jacobian.SetElement(2,5,0.0f );
}
Time Date::operator -(Date second){
long temp=(seconds-second.tSeconds());
Time tem(true,temp);
return tem;
}
void EncodeOutputCharStream::handleUnencodable(Char c, OutputByteStream *)
{
EncodeOutputCharStream tem(byteStream_, encoder_);
if (escaper_)
(*escaper_)(tem, c);
}
void NBImpedance::InducedField(Grid1D& efield, Grid1D& line_current_density)
{
int n=efield.get_size();
int N_t=time_window.size()/2;
if ( N_t == 0) {
for(int j=0;j<n;j++) efield[j]=0.0;
return;
}
static int t=0;
double bl_amp, bl_real, bl_imag, bl_phase;
double dz=efield.get_dz();
double circum=dz*n;
double bucket_h = circum/(double)harmonic;
vektor current(n);
for(int j=0; j<n; j++) current[j]=line_current_density[j];
realft(current,1);
if(t==0)
{
for(int j=0;j<2*N_t;j+=2)
{
time_window[j]=current[2*(int)harmonic];
time_window[j+1]=current[2*(int)harmonic+1];
}
t=1;
}
time_window.pop_front();
time_window.pop_front();
time_window.push_back(current[2*(int)harmonic]);
time_window.push_back(current[2*(int)harmonic+1]);
vektor tem(2*N_t);
for(int j=0;j<2*N_t;j++)
tem[j]=time_window[j];
four1(tem,1);
for(int j=0;j<=N_t/2;j++)
{
komplex temc(tem[2*j],tem[2*j+1]);
komplex temc2(0.0,0.0);
temc2=-temc*Z[N_t/2-j];
tem[2*j]=temc2.real();
tem[2*j+1]=temc2.imag();
}
for(int j=1;j<N_t/2;j++)
{
komplex temc(tem[2*N_t-2*j-3],tem[2*N_t-2*j-2]);
komplex temc2(0.0,0.0);
temc2=-temc*Z[j+N_t/2];
tem[2*N_t-2*j-3]=temc2.real();
tem[2*N_t-2*j-2]=temc2.imag();
}
four1(tem,-1);
bl_real=tem[2*N_t-2]/circum;
bl_imag=tem[2*N_t-1]/circum;
bl_amp = sqrt(bl_real*bl_real+bl_imag*bl_imag) ;
bl_phase = atan2(bl_imag,bl_real) ;
for(int j=0;j<n;j++)
efield[j]=bl_amp*cos(2.0*PI/bucket_h*(j+0.5)*dz-bl_phase);
return;
}
void Kinematics::ForwardKine(int startJ)
{
if (startJ!=0)
{
int i = startJ - 1;
Matrix tem_i_r(3,3,mJointU[i].R);
Matrix tem_j_b(3,1,mJointU[startJ].b);
Matrix tem_j_r(3,3);
Matrix tem(3,1);
tem = tem_i_r * tem_j_b;
mJointU[startJ].P [0] = mJointU[i].P[0]+tem.GetElement(0,0);
mJointU[startJ].P [1] = mJointU[i].P[1]+tem.GetElement(1,0);
mJointU[startJ].P [2] = mJointU[i].P[2]+tem.GetElement(2,0);
Matrix tem_a(3);
tem_a.SetElement(0,0,0);
tem_a.SetElement(0,1,-mJointU[startJ].Ax[2]);
tem_a.SetElement(0,2,mJointU[startJ].Ax[1]);
tem_a.SetElement(1,0,mJointU[startJ].Ax[2]);
tem_a.SetElement(1,1,0);
tem_a.SetElement(1,2,-mJointU[startJ].Ax[0]);
tem_a.SetElement(2,0,-mJointU[startJ].Ax[1]);
tem_a.SetElement(2,1,mJointU[startJ].Ax[0]);
tem_a.SetElement(2,2,0);
Matrix tem_E;
tem_E.MakeUnitMatrix(3);
tem_E = tem_E + tem_a*sin(mJointU[startJ].q) + tem_a*tem_a*(1-cos(mJointU[startJ].q));
tem_j_r = tem_i_r * tem_E;
/*
std::cout<<mJointU[startJ].P [0]<<std::endl;
std::cout<<mJointU[startJ].P [1]<<std::endl;
std::cout<<mJointU[startJ].P [2]<<std::endl;
std::cout<<std::endl;
tem_j_r.PrintMatrix();
*/
/*
for (int n=0; n<3; n++)
for (int nn=0; nn<3; nn++)
mJointU[startJ].R[3*n+nn] = tem_j_r.GetElement(n,nn);
*/
memcpy(mJointU[startJ].R,tem_j_r.GetData(),9*sizeof(float));
}
/*
if (startJ==6)
{
std::cout<<mJointU[startJ].P [0]<<std::endl;
std::cout<<mJointU[startJ].P [1]<<std::endl;
std::cout<<mJointU[startJ].P [2]<<std::endl;
}
*/
if (startJ+1 <mJointU.size()) ForwardKine(startJ+1);
}
