int main(int argc, char** argv) {
FILE* fp;
int num, i, swapMade;
int min, minPos;
if(argc != 2) {
printf("USAGE: NextNumber <fileContainingTestVectors>\n");
return 1;
}
fp = fopen(argv[1], "r");
if(fp == NULL) {
printf("Failed to open the input file '%s' for reading!\n", argv[1]);
return 2;
}
while(!feof(fp)) {
num = -1;
fscanf(fp, "%d", &num);
if(num < 0) {
continue;
}
genDigits(num);
swapMade = 0;
for(i=0;i<numDigits;i++) {
getFirstMin(i, &min, &minPos);
// no minimum found, move to the next index
if(minPos == i) {
continue;
}
arrayShift(i, minPos);
sortTill(minPos-1);
swapMade = 1;
break;
}
if(swapMade) {
printf("%d\n", getNum());
}
else {
printf("%d\n", sortAndGetNum());
}
}
fclose(fp);
return 0;
}
void MainPlanner:: writeValue(vector<vector<int> > digitsVector, float omega){
float scale = 1.5;
float x0 = -80;
vector<vector<vector<PointNode> > > digits = genDigits(scale);
vector<vector<vector<PointNode> > > digit_traj;
vector<PointNode> current_traj;
int dt = 4;
//vector<PointNode> zero_digit = get_rotated(digits[0], 0, 1, millisecondsNow());
for (int i = 0; i < digitsVector.size(); i++){
for (int j = 0; j < digitsVector[i].size(); ++j) {
digit_traj.push_back(digits[digitsVector[i][j]]);
}
}
LONGLONG baseT = millisecondsNow();
// 1.256
for (int k = 0; k < digitsVector.size(); ++k) {
for (int i = 0; i < digit_traj.size(); i++){
for (int j = 0; j < digit_traj[i].size(); ++j) {
float offsetX = (i * (2 + 0.3)) * scale + x0;
baseT = millisecondsNow();
current_traj = get_rotated(digit_traj[i][j], 0.566, dt, baseT, offsetX, k * 15 * scale - 30);
vec2 first_point(current_traj[0].point.x, current_traj[0].point.y);
arm.moveToPoint(first_point);
Sleep(MOTOR_DELAY);
arm.lowerArm();
Sleep(DROP_TIME);
arm.followTrajectory(current_traj);
Sleep(MOTOR_DELAY);
arm.raiseArm();
Sleep(DROP_TIME);
}
}//baseT += current_traj.size() * dt + 2 * DROP_TIME + 2 * MOTOR_DELAY;
}
}
