int RosPublish::publish() {
if ( ros::ok() ) {
trick_msgs::Num tn ;
tn.first_name = "Hakeem" ;
tn.last_name = "Olajuwon" ;
tn.date = "March 29, 1990" ;
tn.points = 18 ;
tn.rebounds = 16 ;
tn.blocks = 11 ;
tn.assists = 10 ;
std::cout << tn << std::endl ;
msg_pub.publish(tn) ;
ros::spinOnce() ;
} else {
exec_terminate(__FILE__, "ros not ok") ;
}
return 0 ;
}
int cannon_pre_master(
/* RETURN: -- Always return zero */
CANNON_AERO* C, /* INOUT: -- Parameter */
AMOEBA* A)
{
while ( 1 ) {
switch ( A->state ) {
case VERTICES:
A->curr_point = A->vertices[A->curr_vertex] ;
if ( A->curr_vertex == A->num_vertices ) {
A->state = CALC_CENTROID_POINT ;
} else {
fprintf(stderr, "V[%d] ", A->curr_vertex);
}
A->curr_vertex++ ;
break ;
case CALC_CENTROID_POINT:
fprintf(stderr, "CENT ");
amoeba_order( A ) ;
A->curr_point = A->x_cent ;
A->state = CALC_REFLECTION_POINT ;
break ;
case CALC_REFLECTION_POINT:
fprintf(stderr, "REFL ");
amoeba_calc_reflection_point( A ) ;
A->curr_point = A->x_refl ;
A->state = REFLECT ;
break ;
case REFLECT:
if ( amoeba_reflect( A ) ) {
A->state = CALC_CENTROID_POINT ;
} else {
fprintf(stderr, "EXPA ");
amoeba_calc_expansion_point( A ) ;
A->curr_point = A->x_expa ;
A->state = EXPAND ;
}
break ;
case EXPAND:
if ( amoeba_expand( A ) ) {
A->state = CALC_CENTROID_POINT ;
} else {
fprintf(stderr, "CONT ");
amoeba_calc_contraction_point( A ) ;
A->curr_point = A->x_cont ;
A->state = CONTRACT ;
}
break ;
case CONTRACT:
if ( amoeba_contract( A ) ) {
A->state = CALC_CENTROID_POINT ;
} else {
A->state = SHRINK ;
}
break ;
case SHRINK:
amoeba_shrink( A ) ;
fprintf(stderr, "V[0] ");
A->curr_point = A->vertices[0] ;
A->curr_vertex = 1 ;
A->state = VERTICES ;
break ;
}
if ( amoeba_satisfied( A ) && A->state != VERTICES ) {
exec_terminate( "cannon_pre_master",
"Amoeba has found a solution." ) ;
}
if ( A->state == CALC_CENTROID_POINT ||
A->state == SHRINK ) {
continue ;
} else {
break ;
}
}
C->time_to_fire_jet_1 = A->curr_point[0] ;
C->time_to_fire_jet_2 = A->curr_point[1] ;
C->time_to_fire_jet_3 = A->curr_point[2] ;
C->time_to_fire_jet_4 = A->curr_point[3] ;
return(0) ;
}
