/*--------main---------------*/
int main()
{
printf("%s",banner);
print("Starting sploit");
memset(junk,0x41,99999);
buildf(FIL3);
print("File done!");
getchar();
return 0;
}
void kmp(void) {
buildf();
for(int i = 0, j = 0; j < n; j++) {
// i = automaton's state, j = text position
if(text[j] == patt[i]) {
i++; // move to next state
if(i == m) {
printf("found match at index %d\n", j-m+1);
i = f[i];
}
} else if(i) i = f[i], j--;
}
}
void kmp(void) {
buildf();
for(int k = 0; k <= m2-n2; k++) {
for(int i = 0, j = 0; j < m1; j++) {
// i = automaton's state, j = text position
if(strncmp(text[j]+k, patt[i], n2) == 0) {
i++;
if(i == n1) {
printf("found match at (%d, %d)\n", j-n1+2, k+1);
i = f[i];
}
} else if(i) i = f[i], j--;
}
}
}
bool BaseOfSupport::update(const Eigen::VectorXd& xi_k) {
// Get feet corners
Eigen::MatrixXd feetCorners;
feetCorners = _stepController->getContact2DCoordinates();
// Compute the bounding box of the current support configuration
Eigen::Matrix2d minMaxBoundingBox;
computeBoundingBox(feetCorners, minMaxBoundingBox);
// Update right-hand side of constraints
buildb(minMaxBoundingBox);
buildf();
// Matrices in the preview window s.t.
// A*X <= fbar - B*xi_k
// Therefore we can prebuild A, fbar and B which are not time-dependent
buildfbar(_f);
_rhs = _fbar - _B*xi_k;
return true;
}
