void test_table(void) {
catdb::DBase::Database database("Billy_database");
catdb::DBase::Database database1("Johnny_database");
catdb::Column* temp = database.find_column("Cool");
std::cout << temp->display_list() << std::endl;
delete temp;
temp = NULL;
catdb::Container* container(new catdb::Container("Alex"));
catdb::Container container1("Billy");
catdb::Container container2("Fred");
catdb::Container container3("Zen");
container->insert_new_element("12.2", "Cool");
container1.insert_new_element("14.3", "Cool");
container2.insert_new_element("99.9", "Cool");
container3.insert_new_element("80.2", "Cool");
std::cout << container->obtain_element("12.2")->get_attribute() << std::endl;
// not implemented yet!!
database.add_container(container);
database.add_container(&container1);
database.add_container(&container2);
database.add_container(&container3);
std::cout << database.get_container("Alex")->get_container_name() << std::endl;
std::cout << "Here is a list of stuff in this column" << std::endl;
catdb::Column* column = database.find_column("Cool");
catdb::Element* element = column->inspect_element("12.2", "Cool");
column->sort_column(tools::sorting::quick_sort, tools::sorting::SORT_LITTLE_ENDIAN);
std::cout << column->display_list() << std::endl;
database.remove_container("Alex");
database.remove_container("Billy");
database.remove_container("Fred");
database.remove_container("Zen");
delete column;
column = NULL;
database1 = database;
catdb::GreaterComparator<catdb::Element> _g;
catdb::Comparator<catdb::Element>& _comp = catdb::LesserComparator<catdb::Element>();
catdb::Element el1("Cooler", "Bool", "Mang");
catdb::Element el2("Alex", "Benson", "Kol");
std::cout << _comp(el1, el2) << std::endl;
tools::data_structures::hash_map<int, int> mapping;
// if (database.get_container("Alex") == NULL)
// std::cout << "Alex is deleted!" << std::endl;
// database.folder_create();
// catdb::DBase::display_db_error_msg();
}
int main(int argc, char *argv[])
{
SDL_Init(SDL_INIT_EVERYTHING);
ekran = SDL_SetVideoMode( 800, 600, 32, SDL_SWSURFACE );
DrawableSDL::surface = ekran;
SDL_Flip( ekran );
SDL_CDOpen(0);
ekran->pixels;
SDL_Event e;
int frame_time;
SDL_PollEvent(&e);
FontFactory::initializeFont("simplePix", "pixelart.ttf", 10);
SDL_Rect rect;
rect.x=100;
rect.y=10;
rect.w=100;
rect.h=100;
TTF_Init();
Rectangle object1;
object1.setColor(0xff, 0xff, 0xff);
Rectangle object2;
object2.setColor(0xf1, 0x00, 0xda);
object2.setX(50);
object1.setX(10);
Container helping(100,30);
//helping.add(&object1);
Container root(10,10);
SimpleScrollBar scroll(100, 100, 10, 150, 0, 1000, Orientation::horizontal);
SimpleScrollBar scroll2(100, 85, 10, 150, 0, 1000, Orientation::horizontal);
root.add(&scroll);
Button ok(100, 100, 60, 20, "Here i am");
ok.setBorderSize(2);
ok.setBackground(255,225,255);
ok.setBorderColor(10,100,10);
ok.setFontName("simplePix");
smth e_inst;
ok+= *(new Delegate(&e_inst));
Button ok2(200, 200, 80, 20, "I am not here");
ok2.setBorderSize(2);
ok2.setBackground(255,225,255);
ok2.setBorderColor(10,100,10);
ok2.setFontName("simplePix");
root.add(&ok);
root.add(&scroll2);
root.add(&ok2);
//ok.setEnable(false);
ListBoxElementSDL el(50);
el.setText("hello");
el.setSelection(false);
el.cut(4, down);
ListBoxElementSDL el1(50);
el1.setText("welcome");
el1.setSelection(false);
ListBoxElementSDL el2(50);
el2.setText("hejo");
el2.setSelection(false);
ListBoxElementSDL el3(50);
el3.setText("hejo2");
ListBoxElementSDL el4(50);
el4.setText("hejo1");
ListBoxElementSDL el5(50);
el5.setText("hejo3");
ListBoxElementSDL el6(50);
el6.setText("Witam");
ListBoxElementSDL el7(50);
el7.setText("Witam");
ListBoxSDL list(500, 200, 100, 50, 2);
list.add(&el);
list.add(&el1);
list.add(&el2);
list.add(&el3);
list.add(&el4);
list.add(&el5);
list.add(&el6);
list.add(&el7);
root.add(&list);
MovingRectangle movrect;
MovingRectangle movrect2;
movrect2.setColor(0x43, 0x52, 0xFF);
//root.add(&movrect);
//root.add(&movrect2);
Uint32 color = SDL_MapRGB(ekran->format, 0xff, 0xff, 0xff);
Uint32 color2 = SDL_MapRGB(ekran->format, 0x00, 0xff, 0xff);
short int r=0,g=0,b=0;
while(true)
{
frame_time = SDL_GetTicks();
ok.setX(scroll.getValue());
ok.setY(scroll2.getValue());
SDL_FillRect(ekran, &(ekran->clip_rect), color2);
root.draw(0,0);
if(SDL_PollEvent(&e))
{
if(e.type == SDL_QUIT)
{
SDL_Quit();
return 0;
}
root.spreadEvent(e);
}
SDL_Flip(ekran);
if((SDL_GetTicks() - frame_time) < 1000/FPS)
SDL_Delay(1000/FPS - (SDL_GetTicks() - frame_time));
}
return 0;
}
void vtWThread::run()
{
optFlowPos.resize(3,0.0);
pf3dTrackerPos.resize(3,0.0);
doubleTouchPos.resize(3,0.0);
fgtTrackerPos.resize(3,0.0);
bool isTarget = false;
events.clear();
// process the optFlow
if (optFlowBottle = optFlowPort.read(false))
{
if (optFlowBottle->size()>=3)
{
yDebug("Computing data from the optFlowTracker %g\n",getEstUsed());
optFlowPos.zero();
optFlowPos[0]=optFlowBottle->get(0).asDouble();
optFlowPos[1]=optFlowBottle->get(1).asDouble();
optFlowPos[2]=optFlowBottle->get(2).asDouble();
AWPolyElement el(optFlowPos,Time::now());
optFlowVelEstimate=linEst_optFlow->estimate(el);
events.push_back(IncomingEvent(optFlowPos,optFlowVelEstimate,0.05,"optFlow"));
isTarget=true;
}
}
// process the pf3dTracker
if (pf3dTrackerBottle = pf3dTrackerPort.read(false))
{
if (pf3dTrackerBottle->size()>6)
{
if (pf3dTrackerBottle->get(6).asDouble()==1.0)
{
Vector fp(4);
fp[0]=pf3dTrackerBottle->get(0).asDouble();
fp[1]=pf3dTrackerBottle->get(1).asDouble();
fp[2]=pf3dTrackerBottle->get(2).asDouble();
fp[3]=1.0;
if (!gsl_isnan(fp[0]) && !gsl_isnan(fp[1]) && !gsl_isnan(fp[2]))
{
yDebug("Computing data from the pf3dTracker %g\n",getEstUsed());
Vector x,o;
igaze->getLeftEyePose(x,o);
Matrix T=axis2dcm(o);
T(0,3)=x[0];
T(1,3)=x[1];
T(2,3)=x[2];
pf3dTrackerPos=T*fp;
pf3dTrackerPos.pop_back();
AWPolyElement el(pf3dTrackerPos,Time::now());
pf3dTrackerVelEstimate=linEst_pf3dTracker->estimate(el);
events.push_back(IncomingEvent(pf3dTrackerPos,pf3dTrackerVelEstimate,0.05,"pf3dTracker"));
isTarget=true;
}
}
}
}
if (!rf->check("noDoubleTouch"))
{
// processes the fingertipTracker
if(fgtTrackerBottle = fgtTrackerPort.read(false))
{
if (doubleTouchBottle = doubleTouchPort.read(false))
{
if(fgtTrackerBottle != NULL && doubleTouchBottle != NULL)
{
if (doubleTouchBottle->get(3).asString() != "" && fgtTrackerBottle->get(0).asInt() != 0)
{
yDebug("Computing data from the fingertipTracker %g\n",getEstUsed());
doubleTouchStep = doubleTouchBottle->get(0).asInt();
fgtTrackerPos[0] = fgtTrackerBottle->get(1).asDouble();
fgtTrackerPos[1] = fgtTrackerBottle->get(2).asDouble();
fgtTrackerPos[2] = fgtTrackerBottle->get(3).asDouble();
AWPolyElement el2(fgtTrackerPos,Time::now());
fgtTrackerVelEstimate=linEst_fgtTracker->estimate(el2);
if(doubleTouchStep<=1)
{
Vector ang(3,0.0);
igaze -> lookAtAbsAngles(ang);
}
else if(doubleTouchStep>1 && doubleTouchStep<8)
{
events.clear();
events.push_back(IncomingEvent(fgtTrackerPos,fgtTrackerVelEstimate,-1.0,"fingertipTracker"));
isTarget=true;
}
}
}
}
}
// processes the doubleTouch !rf->check("noDoubleTouch")
if(doubleTouchBottle = doubleTouchPort.read(false))
{
if(doubleTouchBottle != NULL)
{
if (doubleTouchBottle->get(3).asString() != "")
{
Matrix T = eye(4);
Vector fingertipPos(4,0.0);
doubleTouchPos.resize(4,0.0);
currentTask = doubleTouchBottle->get(3).asString();
doubleTouchStep = doubleTouchBottle->get(0).asInt();
fingertipPos = iCub::skinDynLib::matrixFromBottle(*doubleTouchBottle,20,4,4).subcol(0,3,3); // fixed translation from the palm
fingertipPos.push_back(1.0);
if(doubleTouchStep<=1)
{
Vector ang(3,0.0);
igaze -> lookAtAbsAngles(ang);
}
else if(doubleTouchStep>1 && doubleTouchStep<8)
{
if(currentTask=="LtoR" || currentTask=="LHtoR") //right to left -> the right index finger will be generating events
{
iencsR->getEncoders(encsR->data());
Vector qR=encsR->subVector(0,6);
armR -> setAng(qR*CTRL_DEG2RAD);
T = armR -> getH(3+6, true); // torso + up to wrist
doubleTouchPos = T * fingertipPos;
//optionally, get the finger encoders and get the fingertip position using iKin Finger based on the current joint values
//http://wiki.icub.org/iCub/main/dox/html/icub_cartesian_interface.html#sec_cart_tipframe
doubleTouchPos.pop_back(); //take out the last dummy value from homogenous form
}
else if(currentTask=="RtoL" || currentTask=="RHtoL") //left to right -> the left index finger will be generating events
{
iencsL->getEncoders(encsL->data());
Vector qL=encsL->subVector(0,6);
armL -> setAng(qL*CTRL_DEG2RAD);
T = armL -> getH(3+6, true); // torso + up to wrist
doubleTouchPos = T * fingertipPos;
//optionally, get the finger encoders and get the fingertip position using iKin Finger based on the current joint values
//http://wiki.icub.org/iCub/main/dox/html/icub_cartesian_interface.html#sec_cart_tipframe
doubleTouchPos.pop_back(); //take out the last dummy value from homogenous form
}
else
{
yError(" [vtWThread] Unknown task received from the double touch thread!");
}
yDebug("Computing data from the doubleTouch %g\n",getEstUsed());
AWPolyElement el2(doubleTouchPos,Time::now());
doubleTouchVelEstimate=linEst_doubleTouch->estimate(el2);
events.push_back(IncomingEvent(doubleTouchPos,doubleTouchVelEstimate,-1.0,"doubleTouch"));
isTarget=true;
}
}
}
}
}
if (pf3dTrackerPos[0]!=0.0 && pf3dTrackerPos[1]!=0.0 && pf3dTrackerPos[2]!=0.0)
igaze -> lookAtFixationPoint(pf3dTrackerPos);
else if (doubleTouchPos[0]!=0.0 && doubleTouchPos[1]!=0.0 && doubleTouchPos[2]!=0.0)
igaze -> lookAtFixationPoint(doubleTouchPos);
else if (optFlowPos[0]!=0.0 && optFlowPos[1]!=0.0 && optFlowPos[2]!=0.0)
igaze -> lookAtFixationPoint(optFlowPos);
if (isTarget)
{
Bottle& eventsBottle = eventsPort.prepare();
eventsBottle.clear();
for (size_t i = 0; i < events.size(); i++)
{
eventsBottle.addList()= events[i].toBottle();
}
eventsPort.write();
timeNow = yarp::os::Time::now();
sendGuiTarget();
}
else if (yarp::os::Time::now() - timeNow > 1.0)
{
yDebug("No significant event in the last second. Resetting the velocity estimators..");
timeNow = yarp::os::Time::now();
linEst_optFlow -> reset();
linEst_pf3dTracker -> reset();
linEst_doubleTouch -> reset();
linEst_fgtTracker -> reset();
deleteGuiTarget();
}
}
int main (int argc, char *argv[])
{
std::vector<double> punto1(1,0.0);
std::vector<double> punto2(1,1.0);
std::vector<double> punto3(1,2.0);
std::vector<double> punto4(1,3.0);
Punto<1> pt1(punto1);
Punto<1> pt2(punto2);
Punto<1> pt3(punto3);
Punto<1> pt4(punto4);
std::vector<Punto<1> >element1;
element1.push_back(pt1);
element1.push_back(pt2);
std::vector<Punto<1> >element2;
element2.push_back(pt2);
element2.push_back(pt3);
std::vector<Punto<1> >element3;
element3.push_back(pt3);
element3.push_back(pt4);
myelement<1> el1(element1);
myelement<1> el2(element2);
myelement<1> el3(element3);
std::vector<myelement<1> > raccoltael;
raccoltael.push_back(el1);
raccoltael.push_back(el2);
raccoltael.push_back(el3);
std::cout<<raccoltael.size()<<std::endl;
mymesh<myelement<1> > dominiop(raccoltael);
std::cout<<dominiop.size_element()<<std::endl;
QuadFactory::RulesFactory & rulesFactory(QuadFactory::RulesFactory::Instance());
const Quadrature1D * therule = rulesFactory.create("Trapezi");
therule->ShowMe();
NumericalQuad<1> integrale(therule,dominiop);
std::cout<<integrale.apply(&xquad)<<std::endl;
/*therule = rulesFactory.create("Simpson");
therule->ShowMe();
integrale.SetRule(therule);
std::cout<<integrale.apply(&xquad)<<std::endl;
therule = rulesFactory.create("MidPoint");
therule->ShowMe();
integrale.SetRule(therule);
std::cout<<integrale.apply(&xquad)<<std::endl;
*/
/*
MidPoint mid;
Trapezi trap;
Simpson simp;
std::vector<double> dominio;
double a = 0;
double b = 6;
double step = 0;
double value = 0;
NumericalQuad integrale;
std::ofstream file("Errori.txt");
unsigned int maxit = 15;
for(size_t i(2);i<maxit;i++)
{
dominio.resize(i+1);
step = (b-a)/i;
for(size_t k(0);k<=i;k++) dominio[k]=a+k*step;
integrale.SetDom(dominio);
integrale.SetRule(&mid);
value = integrale.apply(&xquad);
std::cout<<"Midpoint = "<<value<<std::endl;
file<<fabs(value - 6*6*6*6*6)<<'\t';
integrale.SetRule(&trap);
value = integrale.apply(&xquad);
std::cout<<"Trapezi = "<<value<<std::endl;
file<<fabs(value - 6*6*6*6*6)<<'\t';
integrale.SetRule(&simp);
value = integrale.apply(&xquad);
std::cout<<"Simpson = "<<value<<std::endl;
file<<fabs(value - 6*6*6*6*6);
file<<std::endl;
}
file.close();*/
return 0;
}