//----Checks if there is a match, add activities, else creates a new association----//
void checkLocalCell()
{
//uses a normalised version of the localTemp. The comparison local cells are stored as normalised when 1st created
char z;
char match = 0;
float dotTempValue = 0;
float tempAngle = 0;
if(nextEmptyCell == 0)
{
//first localCellView
addAssociation(nextEmptyCell);
nextEmptyCell++;
PlaySound(soundFastUpwardTones);
while(bSoundActive) {}
}
else {
for(z = 0; z<nextEmptyCell; z++)
{
//search for a previous local cell that matches the current view to a certain degree
memcpy(localComparison,poseAssoc[z].localView,numNeuralUnits*4);
dotTempValue = dotMultiply();
tempAngle = acos(dotTempValue);
if(tempAngle<0.17) //if difference less than 10 degrees between vectors
{
match = 1;
break; //save cycles break out
}
}
if(match == 0)
{//no match found - create a new local view cell
addAssociation(nextEmptyCell);
nextEmptyCell++;
nxtDisplayCenteredTextLine(6, "cell created");
PlaySound(soundFastUpwardTones);
while(bSoundActive) {}
}
else if(match == 1)
{
char tempX, tempY, tempTheta;
tempX = poseAssoc[nextEmptyCell-1].xCell;
tempY = poseAssoc[nextEmptyCell-1].yCell;
tempTheta = poseAssoc[nextEmptyCell-1].thetaCell;
//injectEnergy(stepSize, tempX, tempY, tempTheta);
nxtDisplayCenteredTextLine(6, "Energy Injected");
PlaySound(soundBeepBeep);
while(bSoundActive) {}
}
}
}
void SrcModel::addSrcData(QString dataString) {
int id = dataString.section(":",4,4).toInt();
double staticT = dataString.section(":",11,11).toDouble();
double staticEn = dataString.section(":",12,12).toDouble();
double dynT = dataString.section(":",13,13).toDouble();
double dynEn = dataString.section(":",14,14).toDouble();
srcData.insertMulti(id, new Data(dynEn, staticEn, dynT, staticT, id));
addAssociation(id, dataString.section(":",6,6).toInt());
}
EditAssociationConstraint::EditAssociationConstraint(Task *t, QWidget *parent) : task(t), QDialog(parent) {
predecessors = new QListView(this);
successors = new QListView(this);
predecessors->setSelectionMode(QAbstractItemView::MultiSelection);
successors->setSelectionMode(QAbstractItemView::MultiSelection);
predecessors->setModel(MainWindow::tasksModel);
successors->setModel(MainWindow::tasksModel);
addB = new QPushButton("Add",this);
addB->connect(addB,SIGNAL(clicked()),this,SLOT(addAssociation()));
removeB = new QPushButton("Remove",this);
removeB->connect(removeB,SIGNAL(clicked()),this,SLOT(removeAssociation()));
formLayout = new QFormLayout(this);
formLayout->addRow("predecessors : ",predecessors);
formLayout->addRow("successors : ",successors);
formLayout->addRow(addB);
formLayout->addRow(removeB);
setLayout(formLayout);
}
void MAPSJoin::ProcessData()
{
//Here I have the list of obstacles and the list of the obstacles in the gating window of each one
//I have to compare all the parameters that I can to get the coincident level that the obstacles have
//and select one nonone for each one
//Useful parameters
/*
-Position
-Size
-Width
-Speed
-Direction vector
-Relative speed of the vehicle
-Kind of obstacle
*/
//I have to create 3 list
//-List of asociated obstacles
/*
Format:
2 columns
n rows; n = number of Laser obstacles
*/
//-List of non asociated Laser obstacles
/*
Format:
1 row n columns
For each position we have the id of one Laser object
*/
//-List of non asociated Camera obstacles
/*
Format:
1 row n columns
For each position we have the id of one Camera object
*/
joined.resize(Laser_Matched.number_objects);
for (int i = 0; i < Laser_Matched.number_objects; i++)
{
//Clean list of joined
joined.vector[i][0] = Laser_Matched.id[i];
joined.vector[i][1] = -1;
joined.vector[i][2] = 0;
for (int j = 0; j < Laser_Matched.number_matched[i]; j++)
{
score = 0;
score = calculateScore(Laser_Matched.id[i], Laser_Matched.Matrix_matched[i][j][0]);
if (score >= 0)
{
addAssociation(i, Laser_Matched.Matrix_matched[i][j][0], score);
}
}
}
selectAssociations();
//At the end of this for we will have a list of asociated objects
cleanAssociatedList();
//Now we can find the non calculated Laser objects
for (int j = 0; j < ArrayLaserObjects.number_of_objects; j++)
{
if (!findAssociatedLaser(ArrayLaserObjects.object[j].id))
{
nonLaserJoined.push_back(ArrayLaserObjects.object[j].id);
}
}
//Now we can find the non calculated Caemra objects
for (int k = 0; k < ArrayCameraObjects.number_of_objects; k++)
{
if (!findAssociatedCamera(ArrayCameraObjects.object[k].id))
{
nonCameraJoined.push_back(ArrayCameraObjects.object[k].id);
}
}
}