void ModeloPersonaAHoap::AngulosBrazoDerecho(const modelobasicopersona& m, std::vector<double> & rarm_joint)
{
// ANGULOS HOMBRO
const osg::Matrix& homb = m.jBrazoDer.trf->getMatrix();
// RARM_JOINT[1] del hoap:
rarm_joint[0] = atan2(-homb(2,2),homb(2,1));
ONDEBUG(std::cout << "\nRARM_JOINT[1] = " << rarm_joint[0] * 180.0 / 3.14159265 << std::endl);
// RARM_JOINT[2] del hoap
rarm_joint[1] = atan2(-homb(2,0),sqrt(homb(2,1)*homb(2,1) + homb(2,2)*homb(2,2)));
ONDEBUG(std::cout << "RARM_JOINT[2] = " << rarm_joint[1] * 180.0 / 3.14159265 << std::endl);
// RARM_JOINT[3] del hoap
rarm_joint[2] = atan2(homb(1,0),-homb(0,0));
ONDEBUG(std::cout << "RARM_JOINT[3] = " << rarm_joint[2] * 180.0 / 3.14159265 << std::endl);
// TODO: Mirar si estamos cerca del gimbal lock
// ANGULOS CODO
const osg::Matrix& cod = m.jAntebrazoDer.trf->getMatrix();
// RARM_JOINT[4] del hoap
rarm_joint[3] = atan2(cod(1,2),cod(1,1));
ONDEBUG(std::cout << "RARM_JOINT[4] = " << rarm_joint[3] * 180.0 / 3.14159265 << std::endl);
}
/*!
A function called \a functionName is added to this script.
The name must match the regular expression
\c{/^[A-Za-z_][A-Za-z_0-9]*$/}.
The code for the function can be passed in the \a functionBody
parameter. If \a functionBody was specified, its text will appear in
the editor; if the \a functionBody is empty a new empty function
will be created.
This function returns TRUE on success (i.e. the \a functionName was
valid); otherwise returns FALSE.
*/
bool QSScript::addFunction(const QString &functionName,
const QString &functionBody)
{
static QString letters = QString::fromLatin1("abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_");
static QString numbers = QString::fromLatin1("0123456789");
for (int i = 0; i < (int)functionName.length(); ++i) {
if (i == 0 && letters.find(functionName[i]) == -1 ||
letters.find(functionName[i]) == -1 && numbers.find(functionName[i]) == -1) {
#if defined(QT_CHECK_RANGE)
qWarning("QSProject::addFunction: '%s' is not a valid function name",
functionName.latin1());
#endif
return FALSE;
}
}
QString str = QString::fromLatin1("function %1()\n{\n%2\n}")
.arg(functionName)
.arg(functionBody);
#ifndef AQ_ENABLE_SCRIPTCACHE
d->code += str;
#else
QString cod(this->code());
cod += str;
d->code = aqSha1(cod);
aqDiskCacheInsert(d->code, cod);
#endif
emit codeChanged();
return TRUE;
}
void ModeloPersonaAHoap::AngulosBrazoIzquierdo(const modelobasicopersona& m, std::vector<double> & larm_joint)
{
//larm_joint.resize(4);
// ANGULOS HOMBRO
const osg::Matrix& homb = m.jBrazoIzq.trf->getMatrix();
// TODO: Mirar si estamos cerca de gimbal lock
// Si no lo estamos proceder con normalidad
// OJO que las matrices de osg son:
//
// | R 0 |
// | |
// | T |
// | t 1 |
// LARM_JOINT[1] del hoap:
larm_joint[0] = atan2(-homb(2,2),homb(2,1));
ONDEBUG(std::cout << "\nLARM_JOINT[1] = " << larm_joint[0] * 180.0 / 3.14159265 << std::endl);
// LARM_JOINT[2] del hoap
larm_joint[1] = atan2(-homb(2,0),sqrt(homb(2,1)*homb(2,1) + homb(2,2)*homb(2,2)));
ONDEBUG(std::cout << "LARM_JOINT[2] = " << larm_joint[1] * 180.0 / 3.14159265 << std::endl);
// LARM_JOINT[3] del hoap
larm_joint[2] = atan2(homb(1,0),-homb(0,0));
ONDEBUG(std::cout << "LARM_JOINT[3] = " << larm_joint[2] * 180.0 / 3.14159265 << std::endl);
// Si lo estamos llamar subrutina gimbal_lock
// ANGULOS CODO
const osg::Matrix& cod = m.jAntebrazoIzq.trf->getMatrix();
// LARM_JOINT[4] del hoap
larm_joint[3] = atan2(cod(1,2),cod(1,1));
ONDEBUG(std::cout << "LARM_JOINT[4] = " << larm_joint[3] * 180.0 / 3.14159265 << std::endl);
}
int main(){
char str[1000], codStr[1000];
printf("Insira a string\n");
scanf("%[A-Z a-z]", str);
cod(str, codStr);
printf("String codificada: %s\n",codStr);
return 1;
}
/*!
Appends the code \a code to the code in this script.
This function will emit codeChanged()
*/
void QSScript::addCode(const QString &code)
{
#ifndef AQ_ENABLE_SCRIPTCACHE
d->code += code;
#else
QString cod(this->code());
cod += code;
d->code = aqSha1(cod);
aqDiskCacheInsert(d->code, cod);
#endif
emit codeChanged();
}
// ---------------------------------------------------------------------------
// Load ECom plug-ins
// ---------------------------------------------------------------------------
//
void CBTUIPluginMan::LoadPluginsL()
{
TRACE_FUNC_ENTRY
REComSession::ListImplementationsL( KCBtuiPluginInterfaceUid, iPluginInfoArray );
TInt count = iPluginInfoArray.Count();
TRACE_INFO( ( _L( "[BTUI]\t CBTUIPluginMan::LoadSettingPluginL() PluginArray count=%d" ), count) )
iPluginArray.Reset();
for ( TUint ii = 0 ; ii < count; ++ii )
{
CImplementationInformation* impl = iPluginInfoArray[ii];
//Only append the plugins which datatype() is for HID devices.
if(impl->DataType().Length())
{
TLex8 lex( impl->DataType() );
TUint major = 0, minor = 0;
TInt err1 = lex.Val(major, EHex);
lex.SkipSpace();
TInt err2 = lex.Val(minor, EHex);
if( !err1 && !err2)
{
TRACE_INFO( ( _L( "[BTUI]\t CBTUIPluginMan::LoadSettingPluginL() MajorCOD=%d MinorCOD=%d" ), major, minor) )
TBTDeviceClass cod(0x00, major, minor);
CBtuiPluginInterface* plugin = NULL;
TRAPD( ret, plugin = CBtuiPluginInterface::NewL( impl->ImplementationUid() ) );
if( !ret )
{
CleanupStack::PushL(plugin);
// Transfer the ownership to AppUi
iAppUi->AddViewL( (CAknView*)plugin );
plugin->SetCOD(cod);
iPluginArray.AppendL(plugin);
CleanupStack::Pop(plugin);
}
}
}
}
TRACE_FUNC_EXIT
}
