Sivia::Sivia(repere& R, struct sivia_struct *par) : R(R) { par->area = 0; // Create the function we want to apply SIVIA on. Variable x,y; double ei = par->ei; double xb=par->xb1,yb=par->yb1; Interval xbi=Interval(par->xb1-ei,par->xb1+ei),ybi=Interval(par->yb1-ei,par->yb1+ei); double arc = par->sonar_arc; double r = pow(par->sonar_radius,2); double th1 = par->th[0]; double th2=th1+arc; double th21= par->th[1]; double th22=th21 + arc; double th31= par->th[2]; double th32=th31 + arc; double e=1; double epsilon = par->epsilon; double xin,yin; // First SONAR Function f(x,y,sqr(x-xbi)+sqr(y-ybi)); NumConstraint c1(x,y,f(x,y)<=r+e); NumConstraint c2(x,y,f(x,y)>=e); NumConstraint c3(x,y,f(x,y)>r+e); NumConstraint c4(x,y,f(x,y)<e); double sign1,sign2; if(cos(th1)>0) sign1=1; else sign1=-1; if(cos(th2)<0) sign2=1; else sign2=-1; NumConstraint cth11(x,y,sign1*(y-ybi-((sin(th1))/(cos(th1)))*(x-xbi))<0); NumConstraint cth12(x,y,sign1*(y-ybi-((sin(th1))/(cos(th1)))*(x-xbi))>0); NumConstraint cth21(x,y,sign2*(y-ybi-((sin(th2))/(cos(th2)))*(x-xbi))<0); NumConstraint cth22(x,y,sign2*(y-ybi-((sin(th2))/(cos(th2)))*(x-xbi))>0); // Create contractors with respect to each // of the previous constraints. CtcFwdBwd out1(c1); CtcFwdBwd out2(c2); CtcFwdBwd in1(c3); CtcFwdBwd in2(c4); CtcFwdBwd outth1(cth12); CtcFwdBwd inth1(cth11); CtcFwdBwd inth2(cth21); CtcFwdBwd outth2(cth22); // CtcIn inside(f,Interval(-1,1)); // CtcNotIn outside(f,Interval(-1,1)); // Create a contractor that removes all the points // that do not satisfy either f(x,y)<=2 or f(x,y)>=0. // These points are "outside" of the solution set. CtcCompo outside1(out1,out2,outth1,outth2); // Create a contractor that removes all the points // that do not satisfy both f(x,y)>2 or f(x,y)<0. // These points are "inside" the solution set. CtcUnion inside11(in1,in2,inth1); CtcUnion inside1(inside11,inth2); // Second SONAR double xb2=par->xb2,yb2=par->yb2; Interval xb2i=Interval(par->xb2-ei,par->xb2+ei),yb2i=Interval(par->yb2-ei,par->yb2+ei); Function f2(x,y,sqr(x-xb2i)+sqr(y-yb2i)); NumConstraint c21(x,y,f2(x,y)<=r+e); NumConstraint c22(x,y,f2(x,y)>=e); NumConstraint c23(x,y,f2(x,y)>r+e); NumConstraint c24(x,y,f2(x,y)<e); double sign21,sign22; if(cos(th21)>0) sign21=-1; else sign21=1; if(cos(th22)<0) sign22=1; else sign22=-1; NumConstraint cth211(x,y,sign21*(y-yb2i-((sin(th21))/(cos(th21)))*(x-xb2i))<0); NumConstraint cth212(x,y,sign21*(y-yb2i-((sin(th21))/(cos(th21)))*(x-xb2i))>0); NumConstraint cth221(x,y,sign22*(y-yb2i-((sin(th22))/(cos(th22)))*(x-xb2i))<0); NumConstraint cth222(x,y,sign22*(y-yb2i-((sin(th22))/(cos(th22)))*(x-xb2i))>0); // Create contractors with respect to each // of the previous constraints. CtcFwdBwd out21(c21); CtcFwdBwd out22(c22); CtcFwdBwd in21(c23); CtcFwdBwd in22(c24); CtcFwdBwd outth21(cth211); CtcFwdBwd inth21(cth212); CtcFwdBwd inth22(cth221); CtcFwdBwd outth22(cth222); // CtcIn inside(f,Interval(-1,1)); // CtcNotIn outside(f,Interval(-1,1)); // Create a contractor that removes all the points // that do not satisfy either f(x,y)<=2 or f(x,y)>=0. // These points are "outside" of the solution set. CtcCompo outside2(out21,out22,outth21,outth22); // Create a contractor that removes all the points // that do not satisfy both f(x,y)>2 or f(x,y)<0. // These points are "inside" the solution set. CtcUnion inside21(in21,in22,inth21); CtcUnion inside2(inside21,inth22); //Third SONAR double xb3=par->xb3,yb3=par->yb3; Interval xb3i=Interval(par->xb3-ei,par->xb3+ei),yb3i=Interval(par->yb3-ei,par->yb3+ei); Function f3(x,y,sqr(x-xb3i)+sqr(y-yb3i)); NumConstraint c31(x,y,f3(x,y)<=r+e); NumConstraint c32(x,y,f3(x,y)>=e); NumConstraint c33(x,y,f3(x,y)>r+e); NumConstraint c34(x,y,f3(x,y)<e); double sign31,sign32; if(cos(th31)>0) sign31=-1; else sign31=1; if(cos(th32)<0) sign32=1; else sign32=-1; NumConstraint cth311(x,y,sign31*(y-yb3i-((sin(th31))/(cos(th31)))*(x-xb3i))<0); NumConstraint cth312(x,y,sign31*(y-yb3i-((sin(th31))/(cos(th31)))*(x-xb3i))>0); NumConstraint cth321(x,y,sign32*(y-yb3i-((sin(th32))/(cos(th32)))*(x-xb3i))<0); NumConstraint cth322(x,y,sign32*(y-yb3i-((sin(th32))/(cos(th32)))*(x-xb3i))>0); // Create contractors with respect to each // of the previous constraints. CtcFwdBwd out31(c31); CtcFwdBwd out32(c32); CtcFwdBwd in31(c33); CtcFwdBwd in32(c34); CtcFwdBwd outth31(cth311); CtcFwdBwd inth31(cth312); CtcFwdBwd inth32(cth321); CtcFwdBwd outth32(cth322); // CtcIn inside(f,Interval(-1,1)); // CtcNotIn outside(f,Interval(-1,1)); // Create a contractor that removes all the points // that do not satisfy either f(x,y)<=2 or f(x,y)>=0. // These points are "outside" of the solution set. CtcCompo outside3(out31,out32,outth31,outth32); // Create a contractor that removes all the points // that do not satisfy both f(x,y)>2 or f(x,y)<0. // These points are "inside" the solution set. CtcUnion inside31(in31,in32,inth31); CtcUnion inside3(inside31,inth32); //CtcQInter inter(inside,1); //Artifact MODELISATION double xa = par->xa; double ya = par->ya; double ra = par->ra; Function f_a(x,y,sqr(x-xa)+sqr(y-ya)); NumConstraint ca1(x,y,f_a(x,y)<=sqr(ra)); NumConstraint ca2(x,y,f_a(x,y)>=sqr(ra)-par->thick); NumConstraint ca3(x,y,f_a(x,y)>sqr(ra)); NumConstraint ca4(x,y,f_a(x,y)<sqr(ra)-par->thick); CtcFwdBwd aout1(ca1); CtcFwdBwd aout2(ca2); CtcFwdBwd ain1(ca3); CtcFwdBwd ain2(ca4); CtcUnion ain(ain1,ain2); CtcCompo aout(aout1,aout2); //Robot MODELISATION double xr = par->xr; //robot position x double yr = par->yr; //robot position y double wr = par->wr; //robot width double lr = par->lr; //robot length double ep = par->thick; xr = par->xr - wr/2; NumConstraint inrx1(x,y,x>xr+ep); NumConstraint outrx1(x,y,x<xr+ep); NumConstraint inrx2(x,y,x<xr-ep); NumConstraint outrx2(x,y,x>xr-ep); NumConstraint inry1(x,y,y<yr-lr/2); NumConstraint outry1(x,y,y>yr-lr/2); NumConstraint inry2(x,y,y>yr+lr/2); NumConstraint outry2(x,y,y<yr+lr/2); CtcFwdBwd incrx1(inrx1); CtcFwdBwd incrx2(inrx2); CtcFwdBwd incry1(inry1); CtcFwdBwd incry2(inry2); CtcFwdBwd outcrx1(outrx1); CtcFwdBwd outcrx2(outrx2); CtcFwdBwd outcry1(outry1); CtcFwdBwd outcry2(outry2); CtcUnion inrtemp(incrx1,incrx2,incry1); CtcUnion inr1(inrtemp,incry2); CtcCompo outrtemp(outcrx1,outcrx2,outcry1); CtcCompo outr1(outrtemp,outcry2); //2nd rectangle xr = par->xr + wr/2; NumConstraint inrx21(x,y,x>xr+ep); NumConstraint outrx21(x,y,x<xr+ep); NumConstraint inrx22(x,y,x<xr-ep); NumConstraint outrx22(x,y,x>xr-ep); NumConstraint inry21(x,y,y<yr-lr/2); NumConstraint outry21(x,y,y>yr-lr/2); NumConstraint inry22(x,y,y>yr+lr/2); NumConstraint outry22(x,y,y<yr+lr/2); CtcFwdBwd incrx21(inrx21); CtcFwdBwd incrx22(inrx22); CtcFwdBwd incry21(inry21); CtcFwdBwd incry22(inry22); CtcFwdBwd outcrx21(outrx21); CtcFwdBwd outcrx22(outrx22); CtcFwdBwd outcry21(outry21); CtcFwdBwd outcry22(outry22); CtcUnion inrtemp2(incrx21,incrx22,incry21); CtcUnion inr2(inrtemp2,incry22); CtcCompo outrtemp2(outcrx21,outcrx22,outcry21); CtcCompo outr2(outrtemp2,outcry22); //3nd rectangle top rectangle yr=par->yr+par->lr/2; xr=par->xr; NumConstraint inrx31(x,y,x>xr+wr/2+ep); NumConstraint outrx31(x,y,x<xr+wr/2+ep); NumConstraint inrx32(x,y,x<xr-wr/2-ep); NumConstraint outrx32(x,y,x>xr-wr/2-ep); NumConstraint inry31(x,y,y<yr-ep); NumConstraint outry31(x,y,y>yr-ep); NumConstraint inry32(x,y,y>yr+ep); NumConstraint outry32(x,y,y<yr+ep); CtcFwdBwd incrx31(inrx31); CtcFwdBwd incrx32(inrx32); CtcFwdBwd incry31(inry31); CtcFwdBwd incry32(inry32); CtcFwdBwd outcrx31(outrx31); CtcFwdBwd outcrx32(outrx32); CtcFwdBwd outcry31(outry31); CtcFwdBwd outcry32(outry32); CtcUnion inrtemp3(incrx31,incrx32,incry31); CtcUnion inr3(inrtemp3,incry32); CtcCompo outrtemp3(outcrx31,outcrx32,outcry31); CtcCompo outr3(outrtemp3,outcry32); //4 rectangle bot yr=par->yr-par->lr/2; xr=par->xr; NumConstraint inrx41(x,y,x>xr+wr/2+ep); NumConstraint outrx41(x,y,x<xr+wr/2+ep); NumConstraint inrx42(x,y,x<xr-wr/2-ep); NumConstraint outrx42(x,y,x>xr-wr/2-ep); NumConstraint inry41(x,y,y<yr-ep); NumConstraint outry41(x,y,y>yr-ep); NumConstraint inry42(x,y,y>yr+ep); NumConstraint outry42(x,y,y<yr+ep); CtcFwdBwd incrx41(inrx41); CtcFwdBwd incrx42(inrx42); CtcFwdBwd incry41(inry41); CtcFwdBwd incry42(inry42); CtcFwdBwd outcrx41(outrx41); CtcFwdBwd outcrx42(outrx42); CtcFwdBwd outcry41(outry41); CtcFwdBwd outcry42(outry42); CtcUnion inrtemp4(incrx41,incrx42,incry41); CtcUnion inr4(inrtemp4,incry42); CtcCompo outrtemp4(outcrx41,outcrx42,outcry41); CtcCompo outr4(outrtemp4,outcry42); CtcCompo inrtp(inr1,inr2,inr3); CtcUnion outrtp(outr1,outr2,outr3); CtcCompo inr(inrtp,inr4); CtcUnion outr(outrtp,outr4); yr = par->yr; int maxq = 3; //nb of contractors int Qinter = 2; int ctcq = maxq - Qinter + 1; //nb for q-relaxed function of Ibex Array<Ctc> inside1r1(inside1,inr,ain); Array<Ctc> outside1r1(outside1,outr,aout); Array<Ctc> inside2r1(inside2,inr,ain); Array<Ctc> outside2r1(outside2,outr,aout); Array<Ctc> inside3r1(inside3,inr,ain); Array<Ctc> outside3r1(outside3,outr,aout); CtcQInter outside1r(outside1r1,Qinter); CtcQInter inside1r(inside1r1,ctcq); CtcQInter outside2r(outside2r1,Qinter); CtcQInter inside2r(inside2r1,ctcq); CtcQInter outside3r(outside3r1,Qinter); CtcQInter inside3r(inside3r1,ctcq); // Build the initial box. IntervalVector box(2); box[0]=Interval(-10,10); box[1]=Interval(-10,10); par->vin.clear(); // Build the way boxes will be bisected. // "LargestFirst" means that the dimension bisected // is always the largest one. int nbox1=0; LargestFirst lf; IntervalVector viinside1(2); stack<IntervalVector> s; s.push(box); while (!s.empty()) { IntervalVector box=s.top(); s.pop(); contract_and_draw(inside1r,box,viinside1,1,par,nbox1,Qt::magenta,Qt::red); if (box.is_empty()) { continue; } contract_and_draw(outside1r,box,viinside1,0,par,nbox1,Qt::darkBlue,Qt::cyan); if (box.is_empty()) { continue; } if (box.max_diam()<epsilon) { R.DrawBox(box[0].lb(),box[0].ub(),box[1].lb(),box[1].ub(),QPen(Qt::yellow),QBrush(Qt::NoBrush)); } else { pair<IntervalVector,IntervalVector> boxes=lf.bisect(box); s.push(boxes.first); s.push(boxes.second); } } if(par->isinside==1){ robot_position_estimator(nbox1,par); par->isinside1=1; par->isinside=0; //cout<<"area1: "<<par->area<<endl; } IntervalVector box2(2); box2[0]=Interval(-10,10); box2[1]=Interval(-10,10); // Build the way boxes will be bisected. // "LargestFirst" means that the dimension bisected // is always the largest one. int nbox2=0; LargestFirst lf2; IntervalVector viinside2(2); stack<IntervalVector> s2; s2.push(box2); while (!s2.empty()) { IntervalVector box2=s2.top(); s2.pop(); contract_and_draw(inside2r,box2,viinside2,2,par,nbox2,Qt::magenta,Qt::red); if (box2.is_empty()) { continue; } contract_and_draw(outside2r,box2,viinside2,0,par,nbox2,Qt::darkBlue,Qt::cyan); if (box2.is_empty()) { continue; } if (box2.max_diam()<epsilon) { R.DrawBox(box2[0].lb(),box2[0].ub(),box2[1].lb(),box2[1].ub(),QPen(Qt::yellow),QBrush(Qt::NoBrush)); } else { pair<IntervalVector,IntervalVector> boxes2=lf2.bisect(box2); s2.push(boxes2.first); s2.push(boxes2.second); } } if(par->isinside==1){ robot_position_estimator(nbox2,par); par->isinside2=1; par->isinside=0; //cout<<"area2: "<<par->area<<endl; } IntervalVector box3(2); box3[0]=Interval(-10,10); box3[1]=Interval(-10,10); // Build the way boxes will be bisected. // "LargestFirst" means that the dimension bisected // is always the largest one. int nbox3=0; LargestFirst lf3; IntervalVector viinside3(2); stack<IntervalVector> s3; s3.push(box3); while (!s3.empty()) { IntervalVector box3=s3.top(); s3.pop(); contract_and_draw(inside3r,box3,viinside3,3,par,nbox3,Qt::magenta,Qt::red); if (box3.is_empty()) { continue; } contract_and_draw(outside3r,box3,viinside3,0,par,nbox3,Qt::darkBlue,Qt::cyan); if (box3.is_empty()) { continue; } if (box3.max_diam()<epsilon) { R.DrawBox(box3[0].lb(),box3[0].ub(),box3[1].lb(),box3[1].ub(),QPen(Qt::yellow),QBrush(Qt::NoBrush)); } else { pair<IntervalVector,IntervalVector> boxes3=lf3.bisect(box3); s3.push(boxes3.first); s3.push(boxes3.second); } } if(par->isinside==1){ robot_position_estimator(nbox3,par); par->isinside3=1; par->isinside=0; //cout<<"area3: "<<par->area<<endl; } par->state.clear(); if (par->isinside1 ==1 || par->isinside2 ==1 || par->isinside3 ==1){ double *aimth = new double[3]; aimth[0] = get_angle(xb,yb,par->xin,par->yin)+M_PI ; aimth[1] = get_angle(xb2,yb2,par->xin,par->yin)+M_PI; aimth[2] = get_angle(xb3,yb3,par->xin,par->yin)+M_PI; R.DrawLine(xb,yb,xb+r*cos(aimth[0]),yb+r*sin(aimth[0]),QPen(Qt::red)); R.DrawLine(xb2,yb2,xb2+r*cos(aimth[1]),yb2+r*sin(aimth[1]),QPen(Qt::red)); R.DrawLine(xb3,yb3,xb3+r*cos(aimth[2]),yb3+r*sin(aimth[2]),QPen(Qt::red)); par->state = std::string("found"); double kp = par->kp; double u[3]; for (int i=0;i<3;i++){ u[i] = -kp*atan(tan((par->th[i] - (aimth[i] - arc/2.0 ))/2)); if(u[i]>par->sonar_speed) par->th[i] += par->sonar_speed; if(u[i]<-par->sonar_speed) par->th[i] += -par->sonar_speed; else par->th[i] += u[i]; } // for (int i=0;i<3;i++){ // u[i] = atan(tan((par->th[i] - (aimth[i] - arc/2.0 ))/2)); // par->th[i] -=u[i]; // } } r = sqrt(r); //cout<<"th1"<<th1<<endl; R.DrawEllipse(xb,yb,par->ei,QPen(Qt::black),QBrush(Qt::NoBrush)); R.DrawEllipse(xb2,yb2,par->ei,QPen(Qt::black),QBrush(Qt::NoBrush)); R.DrawEllipse(xb3,yb3,par->ei,QPen(Qt::black),QBrush(Qt::NoBrush)); R.DrawLine(xb,yb,xb+r*cos(th2),yb+r*sin(th2),QPen(Qt::green)); R.DrawLine(xb2,yb2,xb2+r*cos(th22),yb2+r*sin(th22),QPen(Qt::green)); R.DrawLine(xb3,yb3,xb3+r*cos(th32),yb3+r*sin(th32),QPen(Qt::green)); R.DrawLine(xb,yb,xb+r*cos(th1),yb+r*sin(th1),QPen(Qt::green)); R.DrawLine(xb2,yb2,xb2+r*cos(th21),yb2+r*sin(th21),QPen(Qt::green)); R.DrawLine(xb3,yb3,xb3+r*cos(th31),yb3+r*sin(th31),QPen(Qt::green)); R.DrawEllipse(par->xa,par->ya,par->ra,QPen(Qt::black),QBrush(Qt::NoBrush)); R.DrawRobot(xr-wr/2,yr+lr/2,-3.14/2,wr,lr); R.Save("paving"); par->vin.clear(); }
/* **************************************************************************** * * noPatternMultiEntityAttrs - * * Discover: (E1, E2) - (A3, A4, A5) * Result: (E1, E2) - A3 - http://cr1.com * E1 - A4 - http://cr2.com * E2 - A3 - http://cr3.com */ TEST(mongoContextProvidersUpdateRequest, noPatternMultiEntityAttrs) { HttpStatusCode ms; UpdateContextRequest req; UpdateContextResponse res; /* Prepare database */ utInit(); prepareDatabase(); /* Forge the request (from "inside" to "outside") */ ContextElement ce1, ce2; ce1.entityId.fill("E1", "T1", "false"); ce2.entityId.fill("E2", "T2", "false"); ContextAttribute ca1("A3", "TA3", "new_val"); ContextAttribute ca2("A4", "TA4", "new_val"); ContextAttribute ca3("A5", "TA5", "new_val"); ContextAttribute ca4("A3", "TA3", "new_val"); ContextAttribute ca5("A4", "TA4", "new_val"); ContextAttribute ca6("A5", "TA5", "new_val"); ce1.contextAttributeVector.push_back(&ca1); ce1.contextAttributeVector.push_back(&ca2); ce1.contextAttributeVector.push_back(&ca3); ce2.contextAttributeVector.push_back(&ca4); ce2.contextAttributeVector.push_back(&ca5); ce2.contextAttributeVector.push_back(&ca6); req.contextElementVector.push_back(&ce1); req.contextElementVector.push_back(&ce2); req.updateActionType.set("UPDATE"); /* Invoke the function in mongoBackend library */ ms = mongoUpdateContext(&req, &res, "", servicePathVector, uriParams); /* Check response is as expected */ EXPECT_EQ(SccOk, ms); EXPECT_EQ(SccNone, res.errorCode.code); EXPECT_EQ(0, res.errorCode.reasonPhrase.size()); EXPECT_EQ(0, res.errorCode.details.size()); ASSERT_EQ(2, res.contextElementResponseVector.size()); /* Context Element Response #1 */ EXPECT_EQ("E1", RES_CER(0).entityId.id); EXPECT_EQ("T1", RES_CER(0).entityId.type); EXPECT_EQ("false", RES_CER(0).entityId.isPattern); ASSERT_EQ(3, RES_CER(0).contextAttributeVector.size()); EXPECT_EQ("A3", RES_CER_ATTR(0, 0)->name); EXPECT_EQ("TA3", RES_CER_ATTR(0, 0)->type); EXPECT_EQ("A4", RES_CER_ATTR(0, 1)->name); EXPECT_EQ("TA4", RES_CER_ATTR(0, 1)->type); EXPECT_EQ("A5", RES_CER_ATTR(0, 2)->name); EXPECT_EQ("TA5", RES_CER_ATTR(0, 2)->type); EXPECT_EQ(SccFound, RES_CER_STATUS(0).code); EXPECT_EQ("Found", RES_CER_STATUS(0).reasonPhrase); EXPECT_EQ("http://cr1.com", RES_CER_STATUS(0).details); /* Context Element Response #2 */ EXPECT_EQ("E2", RES_CER(1).entityId.id); EXPECT_EQ("T2", RES_CER(1).entityId.type); EXPECT_EQ("false", RES_CER(1).entityId.isPattern); ASSERT_EQ(3, RES_CER(1).contextAttributeVector.size()); EXPECT_EQ("A3", RES_CER_ATTR(1, 0)->name); EXPECT_EQ("TA3", RES_CER_ATTR(1, 0)->type); EXPECT_EQ("A4", RES_CER_ATTR(1, 1)->name); EXPECT_EQ("TA4", RES_CER_ATTR(1, 1)->type); EXPECT_EQ("A5", RES_CER_ATTR(1, 2)->name); EXPECT_EQ("TA5", RES_CER_ATTR(1, 2)->type); EXPECT_EQ(SccFound, RES_CER_STATUS(1).code); EXPECT_EQ("Found", RES_CER_STATUS(1).reasonPhrase); EXPECT_EQ("http://cr1.com", RES_CER_STATUS(1).details); /* Release connection */ mongoDisconnect(); utExit(); }