void cofdm_map::set_data(ivec x)
{
cvec qv;
bvec ce;
int K = x.length();
int i;
ce.set_length(K); ce.ones();
#if (DEBUG_LEVEL == 3)
cout << "***** cofdm_map::set_data *****" << endl;
cout << "K=" << K << endl;
cout << "ce=" << ce << endl;
cout << "x=" << x << endl;
cout << "data_carriers=" << data_carriers << endl;
#endif
if( K == data_carriers.length() ) {
qv = qammod.process(ce,x);
#if (DEBUG_LEVEL == 3)
cout << "qv=" << qv << endl;
#endif
for (i=0; i<K; i++) {
y0(data_carriers(i))=qv(i);
}
}
else {
throw sci_exception("cofdm_map::set_data - x.size() <> data_carriers.size()=", data_carriers.length());
}
#if (DEBUG_LEVEL == 3)
cout << "y0(piltos) y0(zeros) migh have rubbish" << endl;
cout << "y0=" << y0 << endl;
cout << "+++++ cofdm_map::set_data +++++" << endl;
#endif
}
// QuatRotation
void Quaternion::QuatRotation(Vector& v)
{
Quaternion qv(0, v.x, v.y, v.z);
Quaternion qm = (*this) * qv * (*this).inverse();
v.x = qm.x;
v.y = qm.y;
v.z = qm.z;
}
btVector3 duCharacter::QmV3(const btVector3 & v, const btQuaternion & q)
{
// transform Vector3 with a given quaternion
btVector3 qv(q.x(), q.y(), q.z());
btVector3 uv = qv.cross(v);
btVector3 uuv = qv.cross(uv);
uv *= (2.0 * q.w());
uuv *= 2.0;
return v + uv + uuv;
}
Point3F & QuatF::mulP(const Point3F& p, Point3F* r)
{
QuatF qq;
QuatF qi = *this;
QuatF qv( p.x, p.y, p.z, 0.0f);
qi.inverse();
qq.mul(qi, qv);
qv.mul(qq, *this);
r->set(qv.x, qv.y, qv.z);
return *r;
}
Point3F& m_mul( const Point3F &p, const QuatF &q, Point3F *r )
{
QuatF qq;
QuatF qi = q;
QuatF qv( p.x, p.y, p.z, 0.0f);
qi.inverse();
m_mul(qi, qv, &qq );
m_mul(qq, q, &qv );
r->set(qv.x, qv.y, qv.z);
return ( *r );
}
void Math::QuatRotation(Vec3 & vOut, const Quat & q, const Vec3 & v)
{
//NVIDIA SDK implementation
Vec3 uv, uuv;
Vec3 qv(q.x, q.y, q.z);
VecCross(uv, qv, v);
VecCross(uuv, qv, uv);
uv *= (2.0f * q.w);
uuv *= 2.0f;
vOut = v + uv + uuv;
}
int KDTree::r_count_around_point(int idxin, int correltime, float r2) {
std::vector<float> qv(dim); // query vector
for (int i=0; i<dim; i++) {
qv[i] = the_data[idxin][i];
}
// copy the query vector.
{
KDTreeResultVector result;
SearchRecord sr(qv, *this, result);
// construct the search record.
sr.centeridx = idxin;
sr.correltime = correltime;
sr.ballsize = r2;
sr.nn = 0;
root->search(sr);
return(result.size());
}
}
void KDTree::n_nearest_around_point(int idxin, int correltime, int nn,
KDTreeResultVector& result) {
std::vector<float> qv(dim); // query vector
result.clear();
for (int i=0; i<dim; i++) {
qv[i] = the_data[idxin][i];
}
// copy the query vector.
{
SearchRecord sr(qv, *this, result);
// construct the search record.
sr.centeridx = idxin;
sr.correltime = correltime;
sr.nn = nn;
root->search(sr);
}
if (sort_results) sort(result.begin(), result.end());
}
void print_mcrl2(std::ostream &out, const std::set<XMASComponent *> &components,
const XMASState &state) {
auto types = all_types(components);
auto qvars = build_queue_vars(components);
Mcrl2OperatorPrinter printer;
Operator::set_printer(&printer);
out << "sort Msg = struct ";
bool first = true;
for (const auto &t : types) {
out << (first ? "" : " | ") << t;
first = false;
}
out << ";" << std::endl << std::endl;
for (const auto &q : qvars) {
out << "sort " << type(q) << " = Int -> Msg;" << std::endl;
}
out << std::endl;
out << "map" << std::endl;
for (const auto &q : qvars) {
out << " give_" << name(q) << ": Msg # " << type(q) << " # Int -> "
<< type(q) << ";" << std::endl;
out << " take_" << name(q) << ": " << type(q) << " -> " << type(q) << ";"
<< std::endl;
out << " shift_" << name(q) << ": " << type(q) << " -> " << type(q) << ";"
<< std::endl;
}
out << std::endl << "var" << std::endl;
out << " n : Int;" << std::endl;
out << " m : Msg;" << std::endl;
for (const auto &q : qvars) {
out << " " << name(q) << " : " << type(q) << ";" << std::endl;
}
out << std::endl << "eqn" << std::endl;
for (const auto &q : qvars) {
out << " give_" << name(q) << "(m, " << name(q) << ", n) = " << name(q)
<< "[n -> m];" << std::endl;
out << " take_" << name(q) << "(" << name(q) << ") = shift_" << name(q)
<< "(" << name(q) << ");" << std::endl;
out << " shift_" << name(q) << "(" << name(q) << ")(n) = " << name(q)
<< "(n+1);" << std::endl;
out << " shift_" << name(q) << "(" << name(q) << ")[n -> m] = " << name(q)
<< "[n+1 -> m];" << std::endl;
}
out << std::endl << "act" << std::endl;
auto transitions = compute_transitions(components, true);
auto ivars = build_input_vars(transitions);
int i = 0;
for (auto &t : transitions) {
out << " T" << i;
t.set_id(i++);
bool first = true;
for (const auto &o : t.out()) {
if (enum_type(o.second).size() <= 1) continue;
out << (first ? ": " : " # ") << "Msg";
first = false;
}
out << ";" << std::endl;
}
out << std::endl;
out << "proc XMAS(";
first = true;
for (const auto &q : qvars) {
out << (first ? "" : ", ") << name(q) << " : " << type(q)
<< ", " << size(q) << " : Int";
first = false;
}
out << ") = " << std::endl;
first = true;
for (const auto &t : transitions) {
out << " " << (first ? " " : "+ ") << "(";
bool first2 = true;
for (auto q : t.in_queues()) {
out << (first2 ? "" : " && ") << size(qv(q)) << " != " << q->c;
first2 = false;
}
for (auto q : t.out_queues()) {
out << (first2 ? "" : " && ") << size(qv(q)) << " != " << 0;
first2 = false;
}
for (auto c : t.conditions()) {
out << (first2 ? "" : " && ") << c.op;
first2 = false;
}
out << ") -> ";
first2 = true;
for (auto pair : t.out()) {
if (enum_type(pair.second).size() <= 1) continue;
out << (first2 ? "sum " : ", ") << iv(pair.first).name() << ": Msg";
first2 = false;
}
if (!first2) out << ". ";
out << "( T" << t.id();
first2 = true;
for (auto pair : t.out()) {
if (enum_type(pair.second).size() <= 1) continue;
out << (first2 ? "(" : ", ") << iv(pair.first).name();
first2 = false;
}
if (!first2) out << ")";
out << " . XMAS(";
first2 = true;
for (const auto &qvar : qvars) {
auto inqs = zip(t.in_queues(), t.in_functions());
auto outqs = t.out_queues();
// TODO: efficiency
auto inq_it = std::find_if(
inqs.begin(), inqs.end(),
[&](const std::pair<XMASQueue *, const SymbolicFunction &> &pair) {
return pair.first == qvar.q;
});
if (inq_it != inqs.end()) {
out << (first2 ? "" : ", ") << "give_" << name(qvar) << "("
<< (*inq_it).second.op << ", " << name(qvar) << ", " << size(qvar)
<< "), " << size(qvar) << "+1";
} else if (std::find_if(outqs.begin(), outqs.end(), [&](XMASQueue *q) {
return q == qvar.q;
}) != outqs.end()) {
out << (first2 ? "" : ", ") << "take_" << name(qvar) << "("
<< name(qvar) << "), " << size(qvar) << "-1";
} else {
// nothing happens...
out << (first2 ? "" : ", ") << name(qvar) << ", " << size(qvar);
}
first2 = false;
}
out << ")";
out << " )";
out << std::endl << std::endl;
first = false;
}
out << ";" << std::endl;
out << "init XMAS(";
first = true;
for (auto &qvar : qvars) {
auto &qstate = state.get_queue(qvar.q);
out << (first ? "" : ",\n ") << "(lambda n : Int . "
<< *types.begin() << ")";
int i = 0;
for (auto &packet : qstate) {
// FIXME: that's a lot for one line
out << "[" << i << "->"
<< dynamic_cast<SymbolicEnumField *>(
packet[0].fields.begin()->second.get())->values[0] << "]";
}
out << ", " << qstate.size();
first = false;
}
out << ");";
out << std::endl << std::endl << std::endl;
out << "mu X(";
first = true;
for (const auto &qvar : qvars) {
out << (first ? "" : ", ") << size(qvar) << ":Int = " << state.get_queue(qvar.q).size();
first = false;
}
out << ")" << std::endl << " . (" << std::endl;
out << " ";
first = true;
for (const auto &qvar : qvars) {
out << (first ? "(" : " && ") << "val(" << size(qvar) << " == 0)";
first = false;
}
out << ")" << std::endl << " || (";
first = true;
for (const auto &qvar : qvars) {
out << (first ? "(" : " || ") << "val(" << size(qvar) << " != 0)";
first = false;
}
out << ")" << std::endl << " && (" << std::endl;
first = true;
for (const auto &t : transitions) {
out << " " << (first ? " " : "|| ");
out << "(<";
bool first2 = true;
for (auto pair : t.out()) {
if (enum_type(pair.second).size() <= 1) continue;
out << (first2 ? "exists " : ", ") << iv(pair.first).name() << ": Msg";
first2 = false;
}
if (!first2) out << " . ";
out << "T" << t.id();
first2 = true;
for (auto pair : t.out()) {
if (enum_type(pair.second).size() <= 1) continue;
out << (first2 ? "(" : ",") << iv(pair.first).name();
first2 = false;
}
if (!first2) out << ")";
out << "> X(";
first2 = true;
for (const auto &qvar : qvars) {
auto inqs = zip(t.in_queues(), t.in_functions());
auto outqs = t.out_queues();
// TODO: efficiency
auto inq_it = std::find_if(
inqs.begin(), inqs.end(),
[&](const std::pair<XMASQueue *, const SymbolicFunction &> &pair) {
return pair.first == qvar.q;
});
if (inq_it != inqs.end()) {
out << (first2 ? "" : ", ") << size(qvar) << "+1";
} else if (std::find_if(outqs.begin(), outqs.end(), [&](XMASQueue *q) {
return q == qvar.q;
}) != outqs.end()) {
out << (first2 ? "" : ", ") << size(qvar) << "-1";
} else {
// nothing happens...
out << (first2 ? "" : ", ") << size(qvar);
}
first2 = false;
}
out << "))" << std::endl;
first = false;
}
out << " ))" << std::endl;
out << ")" << std::endl;
for (auto c : components) {
c->clearComponentExtension<InputVarXMASComponentExtension>();
}
}
