Score::FileError importCapXml(Score* score, const QString& name)
{
qDebug("importCapXml(score %p, name %s)", score, qPrintable(name));
QZipReader uz(name);
if (!uz.exists()) {
qDebug("importCapXml: <%s> not found", qPrintable(name));
MScore::lastError = QT_TRANSLATE_NOOP("file", "file not found");
return Score::FILE_NOT_FOUND;
}
QByteArray dbuf = uz.fileData("score.xml");
XmlReader e(dbuf);
e.setDocName(name);
Capella cf;
while (e.readNextStartElement()) {
if (e.name() == "score") {
const QString& xmlns = e.attribute("xmlns", "<none>"); // doesn't work ???
qDebug("importCapXml: found score, namespace '%s'", qPrintable(xmlns));
cf.readCapx(e);
}
else
e.unknown();
}
convertCapella(score, &cf, true);
return Score::FILE_NO_ERROR;
}
void testQLDSolver()
{
BaseVariable xy("xy",2);
BaseVariable z("z",1);
CompositeVariable T("T", xy, z);
MatrixXd A1(1,1); A1 << 1;
VectorXd b1(1); b1 << -3;
LinearFunction lf1(z, A1, b1);
LinearConstraint c1(&lf1, true);
MatrixXd A2(1,2); A2 << 3,1 ;
VectorXd b2(1); b2 << 0;
LinearFunction lf2(xy, A2, b2);
LinearConstraint c2(&lf2, true);
MatrixXd A3(2,2); A3 << 2,1,-0.5,1 ;
VectorXd b3(2); b3 << 0, 1;
LinearFunction lf3(xy, A3, b3);
LinearConstraint c3(&lf3, false);
QuadraticFunction objFunc(T, Matrix3d::Identity(), Vector3d::Zero(), 0);
QuadraticObjective obj(&objFunc);
QLDSolver solver;
solver.addConstraint(c1);
solver.addConstraint(c2);
solver.addConstraint(c3);
solver.addObjective(obj);
std::cout << "sol = " << std::endl << solver.solve().solution << std::endl << std::endl;
ocra_assert(solver.getLastResult().info == 0);
solver.removeConstraint(c1);
IdentityFunction id(z);
VectorXd lz(1); lz << 1;
VectorXd uz(1); uz << 2;
IdentityConstraint bnd1(&id, lz, uz);
solver.addBounds(bnd1);
std::cout << "sol = " << std::endl << solver.solve().solution << std::endl << std::endl;
ocra_assert(solver.getLastResult().info == 0);
BaseVariable t("t", 2);
VectorXd ut(2); ut << -4,-1;
BoundFunction bf(t, ut, BOUND_TYPE_SUPERIOR);
BoundConstraint bnd2(&bf, false);
solver.addBounds(bnd2);
QuadraticFunction objFunc2(t, Matrix2d::Identity(), Vector2d::Constant(2.71828),0);
QuadraticObjective obj2(&objFunc2);
solver.addObjective(obj2);
std::cout << "sol = " << std::endl << solver.solve().solution << std::endl << std::endl;
ocra_assert(solver.getLastResult().info == 0);
Vector2d c3l(-1,-1);
c3.setL(c3l);
std::cout << "sol = " << std::endl << solver.solve().solution << std::endl << std::endl;
ocra_assert(solver.getLastResult().info == 0);
}
bool WBState::checkPose(Transformation3D &t)
{
Vector3D wheels[4];
double dw[4]={10000.0,10000.0,10000.0,10000.0};
bool bw[4];
//t.position.z+=robot->getWheelRadius();
robot->setRelativeT3D(t);
robot->getWheelsCenterPoints(wheels);
robot->setIntersectable(false);
Vector3D uz(0,0,-1);
for(int j=0;j<4;j++)bw[j]=world->rayIntersection(wheels[j],uz,dw[j]);
//si son menos de 3 lo considero como posicion invalida
int nc=(bw[0]*1+bw[1]*1+bw[2]*1+bw[3]*1);
if(nc<3)return false;
//selecciono los dos menores: ordeno por indices
int ord[4]={0,1,2,3};
int i;
for(i=1;i<4;i++)if(dw[ord[i]]<dw[ord[0]]){int c=ord[0];ord[0]=ord[i];ord[i]=c;}
for(i=2;i<4;i++)if(dw[ord[i]]<dw[ord[1]]){int c=ord[1];ord[1]=ord[i];ord[i]=c;}
if(dw[ord[3]]<dw[ord[2]]){int c=ord[2];ord[2]=ord[3];ord[3]=c;}
//calculo los punto de contacto teóricos cayendo en z:
Vector3D contact[4];
for(i=0;i<4;i++)contact[i]=wheels[i]+uz*dw[i];
//obtengo el vector del balancín con los dos más altos
if(nc==4){
Vector3D axis=(contact[ord[0]]-contact[ord[1]]).getUnitaryVector();
Vector3D n=t.getVectorW();
Vector3D nn=n-axis*(axis*n);
//de los dos restantes proyecto sobre la nn y me quedo con el menor valor
double d2=nn*(contact[ord[0]]-contact[ord[2]]);
double d3=nn*(contact[ord[0]]-contact[ord[3]]);
if(d3<d2)ord[2]=ord[3];
}
//ahora los tres puntos estan obtenidos: lo transformamos en un sdr coherente con la plataforma
bool flag[4]={false,false,false,false};
for(i=0;i<3;i++)flag[ord[i]]=true;
Vector3D vu,vv,vw,npos;
//nueva posición:
if(flag[0]&&flag[3])npos=(contact[0]+contact[3])*0.5;
if(flag[1]&&flag[2])npos=(contact[1]+contact[2])*0.5;
//nueva orientación:
if(flag[0]&&flag[2])vu=(contact[0]-contact[2]).getUnitaryVector();
if(flag[1]&&flag[3])vu=(contact[1]-contact[3]).getUnitaryVector();
if(flag[0]&&flag[1])vv=(contact[0]-contact[1]).getUnitaryVector();
if(flag[2]&&flag[3])vv=(contact[2]-contact[3]).getUnitaryVector();
Transformation3D drop;
drop.position=npos;
drop.orientation=OrientationMatrix(vu,vv);
if(Vector3D(0,0,1)*drop.getVectorW()<0.7)return false; //maximum admisible inclination (45º)
t=drop;
robot->setRelativeT3D(t);
return true;
}
Score::FileError MasterScore::loadCompressedMsc(QIODevice* io, bool ignoreVersionError)
{
MQZipReader uz(io);
QList<QString> sl;
QString rootfile = readRootFile(&uz, sl);
if (rootfile.isEmpty())
return FileError::FILE_NO_ROOTFILE;
//
// load images
//
if (!MScore::noImages) {
foreach(const QString& s, sl) {
QByteArray dbuf = uz.fileData(s);
imageStore.add(s, dbuf);
}
bool ZInstrument::loadFromFile(const QString& path)
{
if (path.endsWith(".sfz"))
return loadSfz(path);
if (!path.endsWith(".msoz")) {
printf("<%s> not a orchestra file\n", qPrintable(path));
return false;
}
MQZipReader uz(path);
if (!uz.exists()) {
printf("Instrument::load: %s not found\n", qPrintable(path));
return false;
}
QByteArray buf = uz.fileData("orchestra.xml");
if (buf.isEmpty()) {
printf("Instrument::loadFromFile: orchestra.xml not found\n");
return false;
}
return read(buf, &uz, QString());
}
bool Score::saveCompressedFile(QIODevice* f, QFileInfo& info, bool onlySelection, bool doCreateThumbnail)
{
MQZipWriter uz(f);
QString fn = info.completeBaseName() + ".mscx";
QBuffer cbuf;
cbuf.open(QIODevice::ReadWrite);
XmlWriter xml(this, &cbuf);
xml << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
xml.stag("container");
xml.stag("rootfiles");
xml.stag(QString("rootfile full-path=\"%1\"").arg(XmlWriter::xmlString(fn)));
xml.etag();
for (ImageStoreItem* ip : imageStore) {
if (!ip->isUsed(this))
continue;
QString path = QString("Pictures/") + ip->hashName();
xml.tag("file", path);
}
xml.etag();
xml.etag();
cbuf.seek(0);
//uz.addDirectory("META-INF");
uz.addFile("META-INF/container.xml", cbuf.data());
// save images
//uz.addDirectory("Pictures");
foreach (ImageStoreItem* ip, imageStore) {
if (!ip->isUsed(this))
continue;
QString path = QString("Pictures/") + ip->hashName();
uz.addFile(path, ip->buffer());
}
// create thumbnail
if (doCreateThumbnail && !pages().isEmpty()) {
QImage pm = createThumbnail();
QByteArray ba;
QBuffer b(&ba);
if (!b.open(QIODevice::WriteOnly))
qDebug("open buffer failed");
if (!pm.save(&b, "PNG"))
qDebug("save failed");
uz.addFile("Thumbnails/thumbnail.png", ba);
}
#ifdef OMR
//
// save OMR page images
//
if (masterScore()->omr()) {
int n = masterScore()->omr()->numPages();
for (int i = 0; i < n; ++i) {
QString path = QString("OmrPages/page%1.png").arg(i+1);
QBuffer cbuf1;
OmrPage* page = masterScore()->omr()->page(i);
const QImage& image = page->image();
if (!image.save(&cbuf1, "PNG")) {
MScore::lastError = tr("save file: cannot save image (%1x%2)").arg(image.width(), image.height());
return false;
}
uz.addFile(path, cbuf1.data());
cbuf1.close();
}
}
#endif
//
// save audio
//
if (_audio)
uz.addFile("audio.ogg", _audio->data());
QBuffer dbuf;
dbuf.open(QIODevice::ReadWrite);
saveFile(&dbuf, true, onlySelection);
dbuf.seek(0);
uz.addFile(fn, dbuf.data());
uz.close();
return true;
}
/// Get forward unit vector (negative of Z)
Vec3d uf() const { return -uz(); }
bool PaletteLoader_Swatchbook::importFile(const QString& fileName, bool /*merge*/)
{
ScColor lf;
int oldCount = m_colors->count();
QScopedPointer<ScZipHandler> uz(new ScZipHandler());
if (!uz->open(fileName))
return false;
if (!uz->contains("swatchbook.xml"))
return false;
QByteArray docBytes;
if (!uz->read("swatchbook.xml", docBytes))
return false;
QString docText = QString::fromUtf8(docBytes);
QDomDocument docu("scridoc");
if (!docu.setContent(docText))
return false;
QDomElement docElem = docu.documentElement();
for (QDomElement drawPag = docElem.firstChildElement(); !drawPag.isNull(); drawPag = drawPag.nextSiblingElement())
{
if (drawPag.tagName() == "materials")
{
for (QDomElement spf = drawPag.firstChildElement(); !spf.isNull(); spf = spf.nextSiblingElement() )
{
if (spf.tagName() == "color")
{
bool isSpot = spf.attribute("usage") == "spot";
QString colorName = "";
ScColor tmp;
tmp.setRegistrationColor(false);
for (QDomElement spp = spf.firstChildElement(); !spp.isNull(); spp = spp.nextSiblingElement() )
{
if (spp.tagName() == "metadata")
{
for (QDomElement spm = spp.firstChildElement(); !spm.isNull(); spm = spm.nextSiblingElement() )
{
if (spm.tagName() == "dc:identifier")
colorName = spm.text();
}
}
else if (spp.tagName() == "values")
{
QString colorVals = spp.text();
ScTextStream CoE(&colorVals, QIODevice::ReadOnly);
if (spp.attribute("model") == "Lab")
{
double inC[3];
CoE >> inC[0];
CoE >> inC[1];
CoE >> inC[2];
tmp.setLabColor(inC[0], inC[1], inC[2]);
tmp.setSpotColor(isSpot);
}
else if (spp.attribute("model") == "CMYK")
{
double c, m, y, k;
CoE >> c >> m >> y >> k;
tmp.setColorF(c, m, y, k);
tmp.setSpotColor(isSpot);
}
else if (spp.attribute("model") == "RGB")
{
double r, g, b;
CoE >> r >> g >> b;
tmp.setRgbColorF(r, g, b);
tmp.setSpotColor(false);
}
void MMS(vector<myData> & F_out, vector<myData> & Ftt_out, FDM::baseSolver& sol, const vector<myData>& u,int step,double t, void * args){
double x = 0;
double y = 0;
double z = 0;
int LN_X = sol.X_LayerNumber();
int LN_Y = sol.Y_LayerNumber();
int LN_Z = sol.Z_LayerNumber();
int Nx,Ny,Nz;
int index = 0;
for (int lz = 0; lz < LN_Z; lz++) {
for (int ly = 0; ly < LN_Y; ly++) {
for (int lx = 0; lx < LN_X; lx++) {
index = idx(lx, ly, lz);
Nx = u[index].Nx();
Ny = u[index].Ny();
Nz = u[index].Nz();
myData ux(Nx,Ny,Nz);
myData uy(Nx,Ny,Nz);
myData uz(Nx,Ny,Nz);
myData Bux(Nx,Ny,Nz);
myData Buy(Nx,Ny,Nz);
myData Buz(Nx,Ny,Nz);
for (int k = 0; k < Nz; k++) {
z = sol.Z(k,lz);
for (int j = 0; j < Ny; j++) {
y = sol.Y(j,ly);
for (int i = 0; i < Nx; i++) {
x = sol.X(i,lx);
F_out[index](i,j,k) = 8*M_PI*M_PI*cos(2*M_PI*t)*cos(2*M_PI*x)*cos(2*M_PI*y)*cos(2*M_PI*z);
Ftt_out[index](i,j,k) = -4*M_PI*M_PI*F_out[index](i,j,k);
ux(i,j,k) = -2*M_PI*cos(2*M_PI*t)*sin(2*M_PI*x)*cos(2*M_PI*y)*cos(2*M_PI*z);//ux boundary
uy(i,j,k) = -2*M_PI*cos(2*M_PI*t)*cos(2*M_PI*x)*sin(2*M_PI*y)*cos(2*M_PI*z);//uy
uz(i,j,k) = -2*M_PI*cos(2*M_PI*t)*cos(2*M_PI*x)*cos(2*M_PI*y)*sin(2*M_PI*z);//uz
}
}
}
//Bux setup
if (lx == 0) {
for (int k = 0; k < Nz; k++) {
for (int j = 0; j < Ny; j++) {
Bux(0,j,k) = -1;
}
}
}
if (lx == LN_X - 1) {
for (int k = 0; k < Nz; k++) {
for (int j = 0; j < Ny; j++) {
Bux(Nx - 1,j,k) = 1;
}
}
}
//
///Buy setup
if (ly == 0) {
for (int k = 0; k < Nz; k++) {
for (int i = 0; i < Nx; i++) {
Buy(i,0,k) = -1;
}
}
}
if (ly == LN_Y - 1) {
for (int k = 0; k < Nz; k++) {
for (int i = 0; i < Nx; i++) {
Buy(i,Ny - 1,k) = 1;
}
}
}
//
//Buz setup
if (lz == 0) {
for (int j = 0; j < Ny; j++) {
for (int i = 0; i < Nx; i++) {
Buz(i,j,0) = -1;
}
}
}
if (lz == LN_Z - 1) {
for (int j = 0; j < Ny; j++) {
for (int i = 0; i < Nx; i++) {
Buz(i,j,Nz - 1) = 1;
}
}
}
//
F_out[index] += sol.H_INV()*(Bux*ux + Buy*uy + Buz*uz);
}
}
}
}
