//! give the required data, fill in the necessary information of a grasp
bool GraspitDBGrasp::SetGraspParameters(const std::vector<double>& prejoint,
const std::vector<double>& prepos,
const std::vector<double>& finjoint,
const std::vector<double>& finpos){
//if(mHand is null, check if we there is a current world hand and if that world hand is the appropriate kind:
if(!mHand){
Hand * currentHand = graspItGUI->getIVmgr()->getWorld()->getCurrentHand();
if(!currentHand || getHandDBName(currentHand).compare(QString(getHandName().c_str())) ){
//if not, attempt to load the hand with the appropriate name, and then set it to the current world hand
mHand = loadHandFromDBName(QString(getHandName().c_str()));
if (!mHand)
return false;
}
else
mHand = currentHand;//if the current hand is the appropriate hand, set mHand to it -- WARNING this has some really funky implications for multithreading
}
mPreGrasp = new GraspPlanningState(mHand);
initializeHandObjectState(prejoint, prepos, mPreGrasp);
mFinalGrasp = new GraspPlanningState(mHand);
initializeHandObjectState(finjoint, finpos, mFinalGrasp);
return true;
}
HTREEITEM CGrannyListView::InsertEquipItem(CTreeCtrl& tree, HTREEITEM htRoot, Uint32 id, cGrannyModelTD *model)
{
const UINT nMask = TVIF_TEXT | TVIF_PARAM;
if (!model) return NULL;
CString strText;
strText.Format("%04d %s", GETID(id), getFileName(model->m_filename).c_str());
HTREEITEM htChar = tree.InsertItem(nMask, strText, 0,0,0,0, SETCHAR(id), htRoot, 0);
strText.Format("file: %s%s", isFileExist(model->m_filename) ? "":"(x) ",model->m_filename.c_str());
tree.InsertItem(strText, htChar);
strText.Format("id: %d (0x%08x)", id, id);
tree.InsertItem(strText, htChar);
if (!model->desc.empty()) {
strText.Format("desc: %s", model->desc.c_str());
tree.InsertItem(strText, htChar);
}
strText.Format("hand: %s", getHandName(model->hand).c_str());
tree.InsertItem(strText, htChar);
strText.Format("bone left: %d, right: %d", model->left_hand_bone, model->right_hand_bone);
tree.InsertItem(strText, htChar);
return htChar;
}
//------------------------------------------------------------------------------
// Prints the line of information for a single given hand, hands[i].
//------------------------------------------------------------------------------
void printHand (int i, Strategy **chart, int showWinPct, FILE *file)
{
int j;
char *handName;
if (hands[i].isObvious) //don't print "obvious" hands
return;
fprintf(file, "\\hline\n");
handName = getHandName(hands[i]);
fprintf(file, "%s ", handName);
for (j = 2; j <= NUM_CARDS; j++)
fprintf(file, " & %s ", actionSymbol(chart[i][j].action));
fprintf(file, " & %s \\\\\n", actionSymbol(chart[i][1].action)); //ace
if (showWinPct)
{
for (j = 2; j <= NUM_CARDS; j++)
fprintf(file, " & %.0f/%.0f ", 100.*chart[i][j].winPct,
100.*chart[i][j].lossPct);
fprintf(file, " & %.0f/%.0f \\\\\n", 100.*chart[i][1].winPct,
100.*chart[i][1].lossPct); //ace
}
free(handName);
}
HTREEITEM CGrannyListView::InsertModelAOS(CTreeCtrl& tree, HTREEITEM htRoot, Uint32 id, cGrannyModelAOS *model)
{
const UINT nMask = TVIF_TEXT | TVIF_PARAM;
if (!model) return NULL;
CString strText;
strText.Format("%04d %s", GETID(id), model->desc.c_str());
HTREEITEM htChar = tree.InsertItem(nMask, strText, 0,0,0,0, SETCHAR(id), htRoot, 0);
HTREEITEM htPart = tree.InsertItem("part", htChar);
//HTREEITEM htAnim = tree.InsertItem("anim", htChar);
HTREEITEM htEquip = tree.InsertItem("equip", htChar);
std::map <int, cGrannyModelTD *> models = model->models;
if (models.empty()) return htEquip;
for (std::map<int, cGrannyModelTD*>::iterator i = models.begin(); i != models.end(); i++) {
cGrannyModelTD *td = i->second;
if (!td) continue;
UINT id2 = 0xC000 | id<< 4 | i->first;
strText.Format("%2d %s", i->first, cGrannyLoader::GetAosBodyName(i->first).c_str());
HTREEITEM htPart2 = tree.InsertItem(nMask, strText, 0,0,0,0, SETCHAR(id2), htPart, 0);
strText.Format("file: %s", td->m_filename.c_str());
tree.InsertItem(strText, htPart2);
}
if (!model->desc.empty()) {
strText.Format("desc: %s", model->desc.c_str());
tree.InsertItem(strText, htChar);
}
strText.Format("hand: %s", getHandName(model->hand).c_str());
tree.InsertItem(strText, htChar);
strText.Format("bone left: %d, right: %d", model->left_hand_bone, model->right_hand_bone);
tree.InsertItem(strText, htChar);
#if 0
// part animation is same.
std::map<int, std::string>& anim_names = models.begin()->second->animation_names;
for (std::map<int, std::string>::iterator i = anim_names.begin(); i != anim_names.end(); i++) {
strText.Format("%s (%s,%d)", getFileName(i->second).c_str(),
AnimTypeData::GetAnimTypeName(i->first).c_str(),i->first);
HTREEITEM htItem = tree.InsertItem(nMask, strText, 0,0,0,0, SETANIM(i->first), htAnim,0);
strText.Format("file: %s%s", isFileExist(i->second) ? "":"(x) ",i->second.c_str());
tree.InsertItem(strText, htItem);
}
#endif
return htEquip;
}
HTREEITEM CGrannyListView::InsertModelTD(CTreeCtrl& tree, HTREEITEM htRoot, Uint32 id, cGrannyModelTD *model)
{
const UINT nMask = TVIF_TEXT | TVIF_PARAM;
if (!model) return NULL;
CString strText;
strText.Format("%04d %s", GETID(id), getFileName(model->m_filename).c_str());
HTREEITEM htChar = tree.InsertItem(nMask, strText, 0,0,0,0, SETCHAR(id), htRoot, 0);
//HTREEITEM htAnim = tree.InsertItem("anim", htChar);
HTREEITEM htEquip = IsPlayerModelID(id) ? tree.InsertItem("equip", htChar) : NULL;
strText.Format("file: %s%s", isFileExist(model->m_filename) ? "":"(x) ",model->m_filename.c_str());
tree.InsertItem(strText, htChar);
if (!model->desc.empty()) {
strText.Format("desc: %s", model->desc.c_str());
tree.InsertItem(strText, htChar);
}
strText.Format("hand: %s", getHandName(model->hand).c_str());
tree.InsertItem(strText, htChar);
strText.Format("bone left: %d, right: %d", model->left_hand_bone, model->right_hand_bone);
tree.InsertItem(strText, htChar);
#if 0
strText.Format("%s (default)", getFileName(model->defaultanimname).c_str());
HTREEITEM htItem = tree.InsertItem(nMask, strText, 0,0,0,0, SETANIM(AnimTypeData::GetAnimType("default.animation")), htAnim, 0);
strText.Format("file: %s%s", isFileExist(model->defaultanimname) ? "":"(x) ",model->defaultanimname.c_str());
tree.InsertItem(strText, htItem);
std::map<int, std::string>& anim_names = model->animation_names;
for (std::map<int, std::string>::iterator i = anim_names.begin(); i != anim_names.end(); i++) {
strText.Format("%s (%s,%d)", getFileName(i->second).c_str(),
AnimTypeData::GetAnimTypeName(i->first).c_str(),i->first);
HTREEITEM htItem = tree.InsertItem(nMask, strText, 0,0,0,0, SETANIM(i->first), htAnim,0);
strText.Format("file: %s%s", isFileExist(i->second) ? "":"(x) ",i->second.c_str());
tree.InsertItem(strText, htItem);
}
#endif
return htEquip;
}
//------------------------------------------------------------------------------
// Prints the line of results from simulations for a single hand.
//------------------------------------------------------------------------------
void printHandSims (int i, HandSim **simsChart, Strategy **chart, FILE *file,
int nsims)
{
const double THRESHHOLD = .01; //amount above which to print "errors" in red
int j;
double winpct, losspct, windiff, lossdiff;
if (hands[i].isObvious) //don't print "obvious" hands
return;
fprintf(file, "\\hline\n");
fprintf(file, "%s ", getHandName(hands[i]));
for (j = 2; j <= NUM_CARDS; j++)
fprintf(file, " & %s ", actionSymbol(chart[i][j].action));
fprintf(file, " & %s \\\\\n", actionSymbol(chart[i][1].action)); //ace
for (j = 2; j <= NUM_CARDS; j++)
{
winpct = ((double) simsChart[i][j].nwins) / nsims;
losspct = ((double) simsChart[i][j].nlosses) / nsims;
windiff = winpct - chart[i][j].winPct;
lossdiff = losspct - chart[i][j].lossPct;
fprintf(file, " & ");
if (fabs(windiff) > THRESHHOLD)
{
fprintf(file, "\\textcolor{red}{");
fprintf(file, "%c%.0f", windiff > 0. ? '+' : '-', 100. * fabs(windiff));
}
else
fprintf(file, "%.0f", 100. * winpct);
if (fabs(windiff) > THRESHHOLD)
fprintf(file, "}");
fprintf(file, "/");
if (fabs(lossdiff) > THRESHHOLD)
{
fprintf(file, "\\textcolor{red}{");
fprintf(file, "%c%.0f", lossdiff > 0. ? '+' : '-', 100. * fabs(lossdiff));
}
else
fprintf(file, "%.0f", 100. * losspct);
if (fabs(lossdiff) > THRESHHOLD)
fprintf(file, "}");
}
winpct = ((double) simsChart[i][1].nwins) / nsims;
losspct = ((double) simsChart[i][1].nlosses) / nsims;
windiff = winpct - chart[i][1].winPct;
lossdiff = losspct - chart[i][1].lossPct;
fprintf(file, " & ");
if (fabs(windiff) > THRESHHOLD)
{
fprintf(file, "\\textcolor{red}{");
fprintf(file, "%c%.0f", windiff > 0. ? '+' : '-', 100. * fabs(windiff));
}
else
fprintf(file, "%.0f", 100. * winpct);
if (fabs(windiff) > THRESHHOLD)
fprintf(file, "}");
fprintf(file, "/");
if (fabs(lossdiff) > THRESHHOLD)
{
fprintf(file, "\\textcolor{red}{");
fprintf(file, "%c%.0f", lossdiff > 0. ? '+' : '-', 100. * fabs(lossdiff));
}
else
fprintf(file, "%.0f", 100. * losspct);
if (fabs(lossdiff) > THRESHHOLD)
fprintf(file, "}");
fprintf(file, " \\\\\n");
}
