int main(int ac, char **av)
{
QApplication app(ac, av);
Qt3DExtras::Qt3DWindow view;
view.defaultFrameGraph()->setClearColor(Qt::black);
// Root entity
Qt3DCore::QEntity *sceneRoot = new Qt3DCore::QEntity();
// Scene Camera
Qt3DRender::QCamera *camera = view.camera();
camera->setProjectionType(Qt3DRender::QCameraLens::PerspectiveProjection);
camera->setViewCenter(QVector3D(0.0f, 3.5f, 0.0f));
camera->setPosition(QVector3D(0.0f, 3.5f, 25.0f));
camera->setNearPlane(0.001f);
camera->setFarPlane(10000.0f);
// For camera controls
Qt3DExtras::QFirstPersonCameraController *camController = new Qt3DExtras::QFirstPersonCameraController(sceneRoot);
camController->setCamera(camera);
// Scene loader
Qt3DCore::QEntity *sceneLoaderEntity = new Qt3DCore::QEntity(sceneRoot);
Qt3DRender::QSceneLoader *sceneLoader = new Qt3DRender::QSceneLoader(sceneLoaderEntity);
SceneWalker sceneWalker(sceneLoader);
QObject::connect(sceneLoader, &Qt3DRender::QSceneLoader::statusChanged, &sceneWalker, &SceneWalker::onStatusChanged);
sceneLoaderEntity->addComponent(sceneLoader);
QStringList args = QCoreApplication::arguments();
QUrl sourceFileName;
if (args.count() <= 1) {
QWidget *container = new QWidget();
QFileDialog dialog;
dialog.setFileMode(QFileDialog::AnyFile);
sourceFileName = dialog.getOpenFileUrl(container, QStringLiteral("Open a scene file"));
} else {
sourceFileName = QUrl::fromLocalFile(args[1]);
}
if (sourceFileName.isEmpty())
return 0;
sceneLoader->setSource(sourceFileName);
view.setRootEntity(sceneRoot);
view.show();
return app.exec();
}
int main(int argc, char* argv[])
{
QGuiApplication app(argc, argv);
Qt3DExtras::Qt3DWindow view;
ExampleScene *sceneRoot = new ExampleScene();
// Scene Camera
Qt3DRender::QCamera *basicCamera = view.camera();
basicCamera->setProjectionType(Qt3DRender::QCameraLens::PerspectiveProjection);
basicCamera->setAspectRatio(view.width() / view.height());
basicCamera->setUpVector(QVector3D(0.0f, 1.0f, 0.0f));
basicCamera->setViewCenter(QVector3D(0.0f, 3.5f, 0.0f));
basicCamera->setPosition(QVector3D(0.0f, 3.5f, 25.0f));
// For camera controls
Qt3DExtras::QFirstPersonCameraController *camController = new Qt3DExtras::QFirstPersonCameraController(sceneRoot);
camController->setCamera(basicCamera);
view.setRootEntity(sceneRoot);
view.show();
return app.exec();
}
int main(int argc, char **argv) {
using vec3f = std::array<float, 3>;
using vec4f = std::array<float, 4>;
using vec5f = std::array<float, 5>;
cmdline::parser p;
p.add<float>("alpha", '\0', "alpha", false, 0.01);
p.add<float>("beta", '\0', "beta", false, 0.0001);
p.add<float>("gamma", '\0', "gamma", false, 10.0);
p.add<float>("delta", '\0', "delta", false, 1e-6);
p.add<std::size_t>("step", '\0', "step", false, 256);
p.add<std::size_t>("interval", '\0', "interval", false, 30);
p.add<float>("arm-radius-1", '\0', "arm-radius-1", false, 0.5);
p.add<float>("arm-radius-2", '\0', "arm-radius-2", false, 0.5);
p.add<float>("arm-radius-3", '\0', "arm-radius-3", false, 0.5);
p.add<float>("arm-length-1", '\0', "arm-length-1", false, 1.0);
p.add<float>("arm-length-2", '\0', "arm-length-2", false, 2.0);
p.add<float>("arm-length-3", '\0', "arm-length-3", false, 2.0);
p.add<float>("sphere-radius", '\0', "sphere-raidus", false, 0.5);
p.parse_check(argc, argv);
float alpha = p.get<float>("alpha");
float beta = p.get<float>("beta");
float gamma = p.get<float>("gamma");
float delta = p.get<float>("delta");
int step = p.get<std::size_t>("step");
int interval = p.get<std::size_t>("interval");
float arm_radius1 = p.get<float>("arm-radius-1");
float arm_radius2 = p.get<float>("arm-radius-2");
float arm_radius3 = p.get<float>("arm-radius-3");
float arm_length1 = p.get<float>("arm-length-1");
float arm_length2 = p.get<float>("arm-length-2");
float arm_length3 = p.get<float>("arm-length-3");
float sphere_radius = p.get<float>("sphere-radius");
QApplication app(argc, argv);
Qt3DExtras::Qt3DWindow * view;
Qt3DCore::QEntity * root;
std::tie(view, root) = cppik::qt::create_view_and_root();
cppik::qt::object_manager manager(root, 100);
cppik::qt::sphere sphere(root, sphere_radius);
manager.push_back(sphere);
cppik::qt::joint_arm arm;
manager.push_back(arm);
arm.set_origin_frame(QQuaternion::fromAxisAndAngle(1, 0, 0, 90));
arm.add_arm(root, arm_radius1, arm_length1, cppik::qt::arm::Y, 0x0000ff);
arm.add_arm(root, arm_radius2, arm_length2, cppik::qt::arm::Z, 0x0000ff);
arm.add_arm(root, arm_radius3, arm_length3, cppik::qt::arm::X, 0x0000ff);
cppik::qt::joint_arm arm2;
manager.push_back(arm2);
arm2.set_origin_frame(QQuaternion::fromAxisAndAngle(1, 0, 0, 90));
arm2.add_arm(root, arm_radius1, arm_length1, cppik::qt::arm::Y, 0x00ff00);
arm2.add_arm(root, arm_radius2, arm_length2, cppik::qt::arm::Z, 0x00ff00);
arm2.add_arm(root, arm_radius3, arm_length3, cppik::qt::arm::X, 0x00ff00);
cppik::qt::joint_arm arm3;
manager.push_back(arm3);
arm3.set_origin_frame(QQuaternion::fromAxisAndAngle(1, 0, 0, 90));
arm3.add_arm(root, arm_radius1, arm_length1, cppik::qt::arm::Y, 0xff0000);
arm3.add_arm(root, arm_radius2, arm_length2, cppik::qt::arm::Z, 0xff0000);
arm3.add_arm(root, arm_radius3, arm_length3, cppik::qt::arm::X, 0xff0000);
view->show();
auto solver = cppik::solver::gradient_method<float>(
alpha,
beta,
gamma,
delta
);
std::thread worker([&] () {
using namespace cppik;
std::mt19937 engine;
std::vector<vec3f> trajectory1(step);
std::vector<vec3f> trajectory2(step);
std::vector<vec3f> trajectory3(step);
cppik::linear_sampler<float> sampler;
trajectory1[0] = vec3f{
std::uniform_real_distribution<float>(-M_PI, M_PI)(engine),
std::uniform_real_distribution<float>(-M_PI, M_PI)(engine),
std::uniform_real_distribution<float>(-M_PI, M_PI)(engine)
};
while (true) {
float l = arm_length1 + arm_length2;
vec3f t = {
std::uniform_real_distribution<float>(-l, l)(engine),
std::uniform_real_distribution<float>(0, l)(engine),
std::uniform_real_distribution<float>(-l, l)(engine)
};
std::cout << "calculation start:" << std::endl;
auto tp1 = std::chrono::system_clock::now();
sphere.set_position(t[0], t[1], t[2]);
auto loss = [&] (vec3f const & v) {
return arm.loss(t)(v) +
range_loss<float>(-M_PI, M_PI)(v[1]) +
range_loss<float>(-M_PI, M_PI)(v[2])
;
};
solver.solve(trajectory1, loss, [&] (std::size_t i) {
solver.alpha = alpha * sin(M_PI * i / step);
});
sampler(trajectory1, trajectory2);
std::array<vec3f, 2> tmp{trajectory1.front(), trajectory1.back()};
sampler(tmp, trajectory3);
auto tp2 = std::chrono::system_clock::now();
std::cout << "calculation end: " << std::chrono::duration_cast<std::chrono::milliseconds>(tp2 - tp1).count() << " milliseconds elapsed." << std::endl;
std::cout << solver.step << " / " << trajectory1.size() << " step." << std::endl;
for (int i = 0; i < step; ++i) {
for (int j = 0; j < trajectory1[i].size(); ++j) {
arm.set_theta(j, trajectory1[i][j]);
arm2.set_theta(j, trajectory2[i][j]);
arm3.set_theta(j, trajectory3[i][j]);
}
std::this_thread::sleep_for(std::chrono::milliseconds(interval));
}
trajectory1[0] = trajectory1[step - 1];
}
});
int ret = app.exec();
return ret;
}
