void operator()() {
/* Figure out the number of threads */
unsigned int size;
pfunc::get_num_threads (taskmgr, size);
/* Prepare all the tasks for launch */
TaskType sub_tasks[size];
std::vector<applicator> funcs;
for (unsigned int rank=0; rank<size; ++rank) {
SpaceType subspace = PartitionerType::create
(space.begin(), space.end(), rank, size);
funcs.push_back (applicator(func.split(), subspace));
}
/* Launch the tasks */
for (unsigned int rank=0; rank<size; ++rank) {
pfunc::spawn (taskmgr, sub_tasks[rank], funcs[rank]);
}
/* wait for them */
pfunc::wait_all (taskmgr, sub_tasks, sub_tasks+size);
/* aggregate the results */
for (unsigned int rank=0; rank<size; ++rank) {
func.join(funcs[rank].func);
}
}
/**
* Use to free ID references within runtime data (stored outside of DNA)
*
* \param new_id may be NULL to unlink \a old_id.
*/
void ED_spacedata_id_remap(struct ScrArea *sa, struct SpaceLink *sl, ID *old_id, ID *new_id)
{
SpaceType *st = BKE_spacetype_from_id(sl->spacetype);
if (st && st->id_remap) {
st->id_remap(sa, sl, old_id, new_id);
}
}
/* lb1 should be empty */
void BKE_spacedata_copylist(ListBase *lb1, ListBase *lb2)
{
SpaceLink *sl;
BLI_listbase_clear(lb1); /* to be sure */
for (sl = lb2->first; sl; sl = sl->next) {
SpaceType *st = BKE_spacetype_from_id(sl->spacetype);
if (st && st->duplicate) {
SpaceLink *slnew = st->duplicate(sl);
BLI_addtail(lb1, slnew);
region_copylist(st, &slnew->regionbase, &sl->regionbase);
}
}
}
void BKE_spacedata_freelist(ListBase *lb)
{
SpaceLink *sl;
ARegion *ar;
for (sl = lb->first; sl; sl = sl->next) {
SpaceType *st = BKE_spacetype_from_id(sl->spacetype);
/* free regions for pushed spaces */
for (ar = sl->regionbase.first; ar; ar = ar->next)
BKE_area_region_free(st, ar);
BLI_freelistN(&sl->regionbase);
if (st && st->free)
st->free(sl);
}
BLI_freelistN(lb);
}
// @return a next solution if available and an empty vector if not
vector<VarType> next() {
vector<VarType> result;
// Initialize the search in the first call
if (dfs == nullptr)
dfs = new DFS<SpaceType>(space);
// Obtain the new space
delete space;
space = dfs->next();
// C to C++ representation
if (space == NULL)
space = nullptr;
// Get the result if there's any
if (space != nullptr)
result = space->getSolution();
return result;
}
bool SpaceLoad_Impl::setSpaceType(const SpaceType& spaceType)
{
return setPointer(this->spaceIndex(), spaceType.handle());
}
ompl::control::Control*
RHCICreate::generateFeedbackControl(const ompl::base::State *state, const size_t& _t)
{
using namespace arma;
//if no more controls left, regenerate controls
if(openLoopControls_.size() == 0) {
std::vector<ompl::control::Control*> openLoopControls;
this->motionModel_->generateOpenLoopControls(state , this->goal_, openLoopControls) ;
openLoopControls_ = std::deque<ompl::control::Control*>(openLoopControls.begin(), openLoopControls.end());
//if motion model cannot generate valid open loop controls from start to goal, return an empty vector signifying invalid control
if(openLoopControls_.size() == 0) {
return this->motionModel_->getZeroControl();
}
//if we generate more controls than the length of controlQueueSize (user-defined), we truncate the rest
if(openLoopControls_.size() > controlQueueSize_)
openLoopControls_.resize(controlQueueSize_);
}
// if there are controls left, apply and remove them one-by-one
ompl::control::Control* control;
control = openLoopControls_.front();
openLoopControls_.pop_front();
colvec diff = (this->goal_)->as<StateType>()->getArmaData() - state->as<StateType>()->getArmaData();
double distance = norm(diff.subvec(0,1), 2);
SpaceType *space;
space = new SpaceType();
ompl::base::State *relativeState = space->allocState();
space->getRelativeState(state, goal_, relativeState);
colvec relativeCfg = relativeState->as<StateType>()->getArmaData();
//cout<<"RHCICreate controller, goal_: "<<endl<<this->goal_.GetArmaData()<<endl;
//cout<<"RHCICreate controller, relativeCfg bearing (degrees): "<<relativeCfg[2]*180/PI<<endl;
//cout<<"RHCICreate controller, relativeCfg distance (cm ) : "<<distance*100<<endl;
//if( distance < 0.20 && !this->m_reachedFlag) this->m_reachedFlag = true;
if(distance < turnOnlyDistance_){
ompl::control::Control* newcontrol = this->motionModel_->getZeroControl();
//cout<<"Applying Only Turn Control !"<<endl;
if (abs(relativeCfg[2]) > 1e-6)
{
//cout<<"control val: "<<0.2 * relativeCfg[2]/abs(relativeCfg[2])<<endl;
//SO std::cin.get();
newcontrol->as<ompl::control::RealVectorControlSpace::ControlType>()->values[1] = 0.2 * relativeCfg[2]/abs(relativeCfg[2]);
}
return newcontrol;
}
return control;
}
boost::optional<IdfObject> ForwardTranslator::translateSpaceType( SpaceType & modelObject )
{
std::vector<Space> spaces = modelObject.spaces();
// check if this is a dummy space type meant to prevent inheriting building space type
std::vector<ModelObject> children = modelObject.children();
if (children.empty()){
LOG(Info, "SpaceType " << modelObject.name().get() << " has no children, it will not be translated");
return boost::none;
}
IdfObject idfObject = createRegisterAndNameIdfObject(openstudio::IddObjectType::ZoneList,
modelObject);
std::set<std::string> zoneNames;
for (const Space& space : spaces){
boost::optional<ThermalZone> thermalZone = space.thermalZone();
if (thermalZone){
zoneNames.insert(thermalZone->name().get());
}
}
idfObject.clearExtensibleGroups();
for (const std::string& zoneName : zoneNames){
idfObject.pushExtensibleGroup(std::vector<std::string>(1, zoneName));
}
// translate internal mass
InternalMassVector internalMasses = modelObject.internalMass();
std::sort(internalMasses.begin(), internalMasses.end(), WorkspaceObjectNameLess());
for (InternalMass& internalMass : internalMasses){
translateAndMapModelObject(internalMass);
}
// translate lights
LightsVector lights = modelObject.lights();
std::sort(lights.begin(), lights.end(), WorkspaceObjectNameLess());
for (Lights& light : lights){
translateAndMapModelObject(light);
}
// translate luminaires
LuminaireVector luminaires = modelObject.luminaires();
std::sort(luminaires.begin(), luminaires.end(), WorkspaceObjectNameLess());
for (Luminaire& luminaire : luminaires){
translateAndMapModelObject(luminaire);
}
// translate people
PeopleVector people = modelObject.people();
std::sort(people.begin(), people.end(), WorkspaceObjectNameLess());
for (People& person : people){
translateAndMapModelObject(person);
}
// translate electric equipment
ElectricEquipmentVector electricEquipment = modelObject.electricEquipment();
std::sort(electricEquipment.begin(), electricEquipment.end(), WorkspaceObjectNameLess());
for (ElectricEquipment& equipment : electricEquipment){
translateAndMapModelObject(equipment);
}
// translate gas equipment
GasEquipmentVector gasEquipment = modelObject.gasEquipment();
std::sort(gasEquipment.begin(), gasEquipment.end(), WorkspaceObjectNameLess());
for (GasEquipment& equipment : gasEquipment){
translateAndMapModelObject(equipment);
}
// translate hot water equipment
HotWaterEquipmentVector hotWaterEquipment = modelObject.hotWaterEquipment();
std::sort(hotWaterEquipment.begin(), hotWaterEquipment.end(), WorkspaceObjectNameLess());
for (HotWaterEquipment& equipment : hotWaterEquipment){
translateAndMapModelObject(equipment);
}
// translate steam equipment
SteamEquipmentVector steamEquipment = modelObject.steamEquipment();
std::sort(steamEquipment.begin(), steamEquipment.end(), WorkspaceObjectNameLess());
for (SteamEquipment& equipment : steamEquipment){
translateAndMapModelObject(equipment);
}
// translate other equipment
OtherEquipmentVector otherEquipment = modelObject.otherEquipment();
std::sort(otherEquipment.begin(), otherEquipment.end(), WorkspaceObjectNameLess());
for (OtherEquipment& equipment : otherEquipment){
translateAndMapModelObject(equipment);
}
// translate SpaceInfiltration_DesignFlowRate
SpaceInfiltrationDesignFlowRateVector spaceInfiltrationDesignFlowRates = modelObject.spaceInfiltrationDesignFlowRates();
std::sort(spaceInfiltrationDesignFlowRates.begin(), spaceInfiltrationDesignFlowRates.end(), WorkspaceObjectNameLess());
for (SpaceInfiltrationDesignFlowRate& spaceInfiltrationDesignFlowRate : spaceInfiltrationDesignFlowRates){
translateAndMapModelObject(spaceInfiltrationDesignFlowRate);
}
// translate SpaceInfiltration_EffectiveLeakageArea
SpaceInfiltrationEffectiveLeakageAreaVector spaceInfiltrationEffectiveLeakageAreas = modelObject.spaceInfiltrationEffectiveLeakageAreas();
std::sort(spaceInfiltrationEffectiveLeakageAreas.begin(), spaceInfiltrationEffectiveLeakageAreas.end(), WorkspaceObjectNameLess());
for (SpaceInfiltrationEffectiveLeakageArea& spaceInfiltrationEffectiveLeakageArea : spaceInfiltrationEffectiveLeakageAreas){
translateAndMapModelObject(spaceInfiltrationEffectiveLeakageArea);
}
return idfObject;
}
bool Building_Impl::setSpaceType(const SpaceType& spaceType)
{
return setPointer(OS_BuildingFields::SpaceTypeName, spaceType.handle());
}
