void tra(struct node *t)
{
if(t) {
printf("%d \n", t -> data);
tra(t -> left);
tra(t -> right);
}
}
void init() {
hd = sin(pi/3) * l;
wd = l + l / 2;
xan = xa / wd;
yan = ya / hd;
xbn = xb / wd;
ybn = yb / hd;
tra(xan, yan, xa, ya); tra(xbn, ybn, xb, yb);
}
long long solv()
{
if(n&1)
return 0;
qsort(p,n,sizeof(p[0]),cmp1);
long long ans=0;
for(int i=0;i<n;)
{
if(p[i][0]!=p[i+1][0])
return 0;
add(p[i][2],p[i+1][2],0);
ans+=(long long)(p[i+1][1]-p[i][1]);
l[poi][0]=p[i][1],l[poi][1]=p[i+1][1],l[poi][2]=p[i][0],++poi;
i+=2;
}
qsort(p,n,sizeof(p[0]),cmp2);
for(int i=0;i<n;)
{
if(p[i][1]!=p[i+1][1])
return 0;
add(p[i][2],p[i+1][2],1);
ans+=(long long)(p[i+1][0]-p[i][0]);
if(check(p[i][0],p[i+1][0],p[i][1]))
return 0;
i+=2;
}
if(tra()<n)
return 0;
return ans;
}
Joint::Joint(btQuaternion quat, btVector3 tr, btVector3* pts, int num, float rad){
btTransform tra(quat, tr);
trans = tra;
points = pts;
radius = rad;
numPoints = num;
}
UndirectedGraphNode *cloneGraph(UndirectedGraphNode *node) {
if(!node){
return NULL;
}
tra(node);
clone(node);
return static_cast<UndirectedGraphNode*>(buf[node]);
}
void tra(UndirectedGraphNode *node){
if(buf.find(node)!=buf.end()){
return;
}
buf[node] = new UndirectedGraphNode(node->label);
for(auto item:node->neighbors){
tra(item);
}
}
glm::mat4 neb::phx::util::convert(physx::PxTransform const & t)
{
glm::quat q(convert(t.q));
glm::vec3 p(convert(t.p));
//mat4 ret(p,q);
glm::mat4 rot(glm::mat4_cast(q));
glm::mat4 tra(glm::translate(p));
return rot * tra;
}
void StaticPoseNode::publishTf(const ros::Time &tstamp)
{
for (unsigned int i = 0; i < transforms_.size(); i++) {
pose_msgs::Transform &t = transforms_[i];
V4R::PoseD pose(&t.rotation.x, &t.translation.x);
cv::Mat_<double> q = pose.quaterion();
tf::Quaternion rot(q(0),q(1), q(2), q(3));
tf::Vector3 tra(pose.x(), pose.y(), pose.z());
tf::StampedTransform st( tf::Transform(rot, tra), tstamp, t.frameSrc, t.frameDes);
transformBroadcaster_.sendTransform (st );
}
}
QgsPoint3DSymbol QgsPoint3DSymbolWidget::symbol() const
{
QVariantMap vm;
switch ( cboShape->currentIndex() )
{
case 0: // sphere
vm[QStringLiteral( "radius" )] = spinRadius->value();
break;
case 1: // cylinder
vm[QStringLiteral( "radius" )] = spinRadius->value();
vm[QStringLiteral( "length" )] = spinLength->value();
break;
case 2: // cube
vm[QStringLiteral( "size" )] = spinSize->value();
break;
case 3: // cone
vm[QStringLiteral( "topRadius" )] = spinTopRadius->value();
vm[QStringLiteral( "bottomRadius" )] = spinBottomRadius->value();
vm[QStringLiteral( "length" )] = spinLength->value();
break;
case 4: // plane
vm[QStringLiteral( "size" )] = spinSize->value();
break;
case 5: // torus
vm[QStringLiteral( "radius" )] = spinRadius->value();
vm[QStringLiteral( "minorRadius" )] = spinMinorRadius->value();
break;
case 6: // model
vm[QStringLiteral( "model" )] = lineEditModel->text();
vm[QStringLiteral( "overwriteMaterial" )] = cbOverwriteMaterial->isChecked();
break;
}
QQuaternion rot( QQuaternion::fromEulerAngles( spinRX->value(), spinRY->value(), spinRZ->value() ) );
QVector3D sca( spinSX->value(), spinSY->value(), spinSZ->value() );
QVector3D tra( spinTX->value(), spinTY->value(), spinTZ->value() );
QMatrix4x4 tr;
tr.translate( tra );
tr.scale( sca );
tr.rotate( rot );
QgsPoint3DSymbol sym;
sym.setAltitudeClamping( static_cast<Qgs3DTypes::AltitudeClamping>( cboAltClamping->currentIndex() ) );
sym.setShape( static_cast<QgsPoint3DSymbol::Shape>( cboShape->itemData( cboShape->currentIndex() ).toInt() ) );
sym.setShapeProperties( vm );
sym.setMaterial( widgetMaterial->material() );
sym.setTransform( tr );
return sym;
}
TranslationRotation3D TranslationRotation3D::inverseTransform() const {
Eigen::Map<const Eigen::Vector3d> tra(T_);
Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > rot(R_mat_);
double rot_inv_ptr[9];
Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > rot_inv(
rot_inv_ptr);
rot_inv = rot.transpose();
double tra_inv_ptr[3];
Eigen::Map<Eigen::Vector3d> tra_inv(tra_inv_ptr);
tra_inv = -rot_inv * tra;
TranslationRotation3D pose_inv;
pose_inv.setT(tra_inv_ptr);
pose_inv.setR_mat(rot_inv_ptr);
pose_inv.setValid(valid_);
return (pose_inv);
}
DetectFishDeth::DetectFishDeth(const vector<vector<Point> > &contours, int bp, int _avg_area, int _num_fish)
{
num_fish = _num_fish;
border_position = bp;
avg_area = _avg_area;
for (int i = 0; i < num_fish; ++i)
{
vector <Point> tra(SIZE_FRAME, { 0, 0 });
trajectory.push_back(tra);
Moments m = moments(contours[i]);
center_point.push_back(Point(m.m10 / m.m00, m.m01 / m.m00));//计算鱼的中心点
contour_area.push_back(contourArea(contours[i]));//调用外部函数求轮廓面积
fish_Assigned.push_back(0);
nearest_point.push_back(0);
}
}
tresult PLUGIN_API TripleFProcessor::initialize(FUnknown *context)
{
tresult initbase = AudioEffect::initialize(context);
if(initbase == kResultTrue)
{
if(removeAllBusses() != kResultTrue)
return kResultFalse;
addAudioInput (USTRING("Stereo In"), SpeakerArr::kStereo);
addAudioOutput (USTRING("Stereo out"), SpeakerArr::kStereo);
try
{
m_env = new OpenCLEnvironment(CL_DEVICE_TYPE_GPU);
m_compiler = new Compiler(*m_env, path("%FFF%/cl").getPath());
m_compiler->build();
WaveReader<Sample> hReader("h.wav");
UInt channelCount = hReader.getChannelCount();
UInt sampleCount = hReader.getSampleCount();
m_ssize = sampleCount - 1;
ComputingData<Sample> cd(sampleCount);
DeviceProperties devprops(m_env->getDevice());
Mapper map(cd, devprops, 0);
m_x = new mcf::hmcp;
m_y = new mcf::hmcp;
mcf::multichannel b, a;
mcf::create(b, *m_env, CL_MEM_READ_ONLY, channelCount, fff_POW2(map.getLb2N()));
mcf::create(a, *m_env, CL_MEM_READ_ONLY, channelCount, fff_POW2(map.getLb2N()));
for(UInt ch = 0; ch < channelCount; ++ch)
a.host->getRawReal(ch)[0] = (Sample)20.f;
mcf::create(m_H, *m_env, CL_MEM_READ_WRITE, channelCount, fff_POW2(map.getLb2N()));
hReader.readFile(*(b.host));
TransferFunction<Sample> tra(*m_compiler, *b, *a, *m_H);
tra.invokeAndWait();
}
catch(...)
{
initbase = kResultFalse;
}
}
return
initbase;
}
void prints()
{
tra(root);
}
