void ZLTextView::ViewStyle::applyControls(const ZLTextWordCursor &begin, const ZLTextWordCursor &end) {
for (ZLTextWordCursor cursor = begin; !cursor.equalWordNumber(end); cursor.nextWord()) {
const ZLTextElement &element = cursor.element();
if (element.kind() == ZLTextElement::CONTROL_ELEMENT) {
applyControl((ZLTextControlElement&)element);
} else if (element.kind() == ZLTextElement::FORCED_CONTROL_ELEMENT) {
applyControl((ZLTextForcedControlElement&)element);
}
}
}
void generateInterpolatedThread() {
Thread* start = new Thread(*glThreads[planThread]->getThread());
Thread* end = new Thread(*glThreads[endThread]->getThread());
numApprox = 10;
vector<Thread*> traj;
traj.resize(numApprox);
traj[0] = start;
traj[traj.size()-1]= end;
vector<VectorXd> controls;
cout << "calling interpolate" << endl;
interpolateThreads(traj, controls);
vector<VectorXd> U;
for (int i = 0; i < traj.size(); i++) {
VectorXd ctrl(12);
ctrl.setZero();
U.push_back(ctrl);
}
Iterative_Control* ic = new Iterative_Control(traj.size(), traj.front()->num_pieces());
int num_iters = 5;
ic->iterative_control_opt(traj, U, num_iters);
vector<vector<Thread*> > thread_visualization_data;
vector<vector<VectorXd> > thread_control_data;
for (int i = 0; i < traj.size(); i++) {
vector<Thread*> tmp;
tmp.push_back(traj[i]);
thread_visualization_data.push_back(tmp);
}
vector<Thread*> control_traj;
control_traj.push_back(new Thread(*glThreads[planThread]->getThread()));
Thread* prevThread = control_traj.front();
for (int i = 1; i < traj.size(); i++) {
Thread* startThread = new Thread(*prevThread);
applyControl(startThread, U[i-1], START_AND_END);
control_traj.push_back(startThread);
prevThread = startThread;
}
thread_visualization_data.push_back(control_traj);
thread_visualization_data.resize(0);
ic->AllFiles_To_Traj(num_iters, thread_visualization_data, thread_control_data);
for (int i=0; i < thread_visualization_data.size(); i++)
{
std::cout << "size: " << thread_visualization_data[i].size() << std::endl;
}
setThreads(thread_visualization_data);
}