void ompl::base::Planner::printProperties(std::ostream &out) const
{
out << "Planner " + getName() + " specs:" << std::endl;
out << "Multithreaded: " << (getSpecs().multithreaded ? "Yes" : "No") << std::endl;
out << "Reports approximate solutions: " << (getSpecs().approximateSolutions ? "Yes" : "No") << std::endl;
out << "Can optimize solutions: " << (getSpecs().optimizingPaths ? "Yes" : "No") << std::endl;
out << "Aware of the following parameters:";
std::vector<std::string> params;
params_.getParamNames(params);
for (auto ¶m : params)
out << " " << param;
out << std::endl;
}
void AUD_ReverseReader::read(int & length, sample_t* & buffer)
{
// first correct the length
if(m_position + length > m_length)
length = m_length - m_position;
if(length <= 0)
{
length = 0;
return;
}
AUD_Specs specs = getSpecs();
int samplesize = AUD_SAMPLE_SIZE(specs);
// resize buffer if needed
if(m_buffer.getSize() < length * samplesize)
m_buffer.resize(length * samplesize);
buffer = m_buffer.getBuffer();
sample_t* buf;
int len = length;
// read from reader
m_reader->seek(m_length - m_position - len);
m_reader->read(len, buf);
// set null if reader didn't give enough data
if(len < length)
{
memset(buffer, 0, (length - len) * samplesize);
buffer += (length - len) * specs.channels;
}
// copy the samples reverted
for(int i = 0; i < len; i++)
memcpy(buffer + i * specs.channels,
buf + (len - 1 - i) * specs.channels,
samplesize);
m_position += length;
buffer = m_buffer.getBuffer();
}
void ReverseReader::read(int& length, bool& eos, sample_t* buffer)
{
// first correct the length
if(m_position + length > m_length)
length = m_length - m_position;
if(length <= 0)
{
length = 0;
eos = true;
return;
}
const Specs specs = getSpecs();
const int samplesize = AUD_SAMPLE_SIZE(specs);
sample_t temp[CHANNEL_MAX];
int len = length;
// read from reader
m_reader->seek(m_length - m_position - len);
m_reader->read(len, eos, buffer);
// set null if reader didn't give enough data
if(len < length)
std::memset(buffer, 0, (length - len) * samplesize);
// copy the samples reverted
for(int i = 0; i < length / 2; i++)
{
std::memcpy(temp, buffer + (len - 1 - i) * specs.channels, samplesize);
std::memcpy(buffer + (len - 1 - i) * specs.channels, buffer + i * specs.channels, samplesize);
std::memcpy(buffer + i * specs.channels, temp, samplesize);
}
m_position += length;
eos = false;
}
