void vpSystem::IDIteration2(void)
{
int i, j;
vpJoint *pCurrent, *pChild;
for ( i = m_pJoint.size() - 1; i >= 0; i-- )
{
pCurrent = m_pJoint[i];
pCurrent->m_sF = pCurrent->m_sI * pCurrent->m_sDV - dad(pCurrent->m_sV, pCurrent->m_sI * pCurrent->m_sV);
for ( j = 0; j < pCurrent->m_pChildJoints.size(); j++ )
{
pChild = pCurrent->m_pChildJoints[j];
pCurrent->m_sF += InvdAd(pChild->m_sRelativeFrame, pChild->m_sF);
}
pCurrent->m_sF -= dAd(pCurrent->m_sRightBodyFrame, pCurrent->m_pRightBody->GetForce());
pCurrent->UpdateTorqueID();
}
if ( m_pRoot->m_bIsGround ) return;
m_pRoot->m_sForce = m_pRoot->m_sI * m_pRoot->m_sDV - dad(m_pRoot->m_sV, m_pRoot->m_sI * m_pRoot->m_sV);
for ( i = 0; i < m_pRoot->m_pJoint.size(); i++ )
{
pChild = m_pRoot->m_pJoint[i];
m_pRoot->m_sForce += InvdAd(pChild->m_sRelativeFrame, pChild->m_sF);
}
m_pRoot->m_sForce -= m_pRoot->GetGravityForce();
}
void vpSystem::HDIteration2(void)
{
int i, j;
vpJoint *pCurrent, *pChild;
AInertia tmpI;
for ( i = m_pJoint.size() - 1; i >= 0; i-- )
{
pCurrent = m_pJoint[i];
pCurrent->m_sJ = pCurrent->m_sI;
pCurrent->m_sB = -dad(pCurrent->m_sV, pCurrent->m_sI * pCurrent->m_sV) - dAd(pCurrent->m_sRightBodyFrame, pCurrent->m_pRightBody->GetForce());
for ( j = 0; j < pCurrent->m_pChildJoints.size(); j++ )
{
pChild = pCurrent->m_pChildJoints[j];
if ( pChild->m_sHDType == VP::KINEMATIC )
{
pCurrent->m_sJ.AddTransform(pChild->m_sJ, Inv(pChild->m_sRelativeFrame));
} else
{
pChild->UpdateAInertia(tmpI);
pCurrent->m_sJ.AddTransform(tmpI, Inv(pChild->m_sRelativeFrame));
}
pCurrent->m_sB += InvdAd(pChild->m_sRelativeFrame, pChild->m_sC + pChild->GetLP());
}
pCurrent->m_sC = pCurrent->m_sB + pCurrent->m_sJ * pCurrent->m_sW;
if ( pCurrent->m_sHDType == VP::KINEMATIC ) pCurrent->UpdateLP();
else pCurrent->UpdateLOTP();
}
if ( m_pRoot->m_bIsGround ) return;
if ( m_pRoot->m_pJoint.size() ) m_sRootInertia = m_pRoot->m_sI;
m_sRootBias = -dad(m_pRoot->m_sV, m_pRoot->m_sI * m_pRoot->m_sV);
if ( m_pRoot->m_sHDType == VP::DYNAMIC ) m_sRootBias -= m_pRoot->GetForce();
else m_sRootBias -= m_pRoot->GetGravityForce();
for ( i = 0; i < m_pRoot->m_pJoint.size(); i++ )
{
pChild = m_pRoot->m_pJoint[i];
if ( pChild->m_sHDType == VP::KINEMATIC )
{
m_sRootInertia.AddTransform(pChild->m_sJ, Inv(pChild->m_sRelativeFrame));
} else
{
pChild->UpdateAInertia(tmpI);
m_sRootInertia.AddTransform(tmpI, Inv(pChild->m_sRelativeFrame));
}
m_sRootBias += InvdAd(pChild->m_sRelativeFrame, pChild->m_sC + pChild->GetLP());
}
}
// Complexidade Log(n)
void up_it(eHeap *e, int i){
int k;
if(i< e->size){
k = dad(i);
while(i != k){
if(e->elements[k].el < e->elements[i].el){
exchange(e,k,i);
i = k;
k = dad(i);
}
}
}
return;
}
int main()
{
int n,cases=0;
scanf("%d",&n);
while(cases++<n)
{
count=0;
memset(visit,0,sizeof(visit));
memset(a,0,sizeof(a));
dlx_init(81*4);
int k=0,i=0,j=0,s=1;
for(i=0;i<9;i++)
for(j=0;j<9;j++)
{
scanf("%d",&map[i][j]);
a[i][j]=map[i][j]&(~15);
map[i][j]=map[i][j]&15;
}
for(i=0;i<9;i++)
for(j=0;j<9;j++)
if(!visit[i][j])
dfs(i,j,s++);
for(i=0;i<9;i++)
for(j=0;j<9;j++)
if(map[i][j]==0)
{
int ii;
for(ii=1;ii<=9;ii++)
dad(i,j,ii);
}
else
dad(i,j,map[i][j]);
DLX(0);
printf("Case %d:\n",cases);
if(!count)
printf("No solution\n");
else if(count==1)
for(i=0;i<9;i++)
{
for(j=0;j<9;j++)
printf("%d",map[i][j]);
printf("\n");
}
else
printf("Multiple Solutions\n");
}
return 0;
}
void DeepAd(Dataset * combinDataSet, int nLayers, int layerSizes[],double lr, int batchsize, int epochs, string savefile){
printf("lr: %f\nlayers: %d\nlayersize: %d\t%d\t%d\nbatchsize :%d\nepochs :%d\nsavefile: %s\n",
lr, nLayers, layerSizes[0],layerSizes[1], layerSizes[2],
batchsize, epochs, savefile.c_str());
DeepAutoEncoder dad(2,layerSizes);
dad.setModelFile("result/com_dad.dat");
TrainModel model(&dad);
model.train(combinDataSet,lr,batchsize,epochs);
TransmissionDataset out(combinDataSet,&dad);
out.dumpTrainData(savefile.c_str());
}
void up(eHeap *e, int i){
int k;
if(i< (e->size)){ // se o indice for valido.
k = dad(i);
if(i == k) return;
if(e->elements[k].el < e->elements[i].el){
exchange(e,k,i);
}
up(e,k);
}
return;
}
void GSystem::calcDerivative_MomentumCOM_Dq_Ddq(RMatrix &DHcDq_, RMatrix &DHcDdq_)
{
int i;
std::list<GBody *>::iterator iter_pbody;
std::list<GCoordinate *>::iterator iter_pcoord;
std::vector<SE3> M(pBodies.size());
std::vector<GConstraintJointLoop::JOINTLOOP_CONSTRAINT_TYPE> jlc_type(pBodies.size());
for (i=0, iter_pbody = pBodies.begin(); iter_pbody != pBodies.end(); i++, iter_pbody++) {
// save previous settings
M[i] = (*iter_pbody)->fwdJointChain.M1;
jlc_type[i] = (*iter_pbody)->fwdJointChain.jointLoopConstraintType;
// prerequisites for (*iter_pbody)->getDerivative_MomentumGlobal_Dq(...) and (*iter_pbody)->getDerivative_MomentumGlobal_Ddq(...)
(*iter_pbody)->fwdJointChain.setM(SE3());
(*iter_pbody)->fwdJointChain.jointLoopConstraintType = GConstraintJointLoop::JOINTLOOP_ORIENTATION_POSITION;
(*iter_pbody)->fwdJointChain.update_J();
}
// calculate the derivatives
Vec3 p = getPositionCOMGlobal();
dse3 Hg = getMomentumGlobal();
RMatrix DHgDq(6, getNumCoordinates()), DHgDdq(6, getNumCoordinates());
dse3 DHgDqi, DHgDdqi;
for (i=0, iter_pcoord = pCoordinates.begin(); iter_pcoord != pCoordinates.end(); i++, iter_pcoord++) {
DHgDqi = getDerivative_MomentumGlobal_Dq(*iter_pcoord);
DHgDdqi = getDerivative_MomentumGlobal_Ddq(*iter_pcoord);
//DHgDq.Push(0, i, convert_to_RMatrix(DHgDqi));
//DHgDdq.Push(0, i, convert_to_RMatrix(DHgDdqi));
matSet(&DHgDq[6*i], DHgDqi.GetArray(), 6);
matSet(&DHgDdq[6*i], DHgDdqi.GetArray(), 6);
}
RMatrix DdAdDq_Hg(6, getNumCoordinates());
Vec3 DpDqi;
for (i=0, iter_pcoord = pCoordinates.begin(); iter_pcoord != pCoordinates.end(); i++, iter_pcoord++) {
DpDqi = getDerivative_PositionCOMGlobal_Dq(*iter_pcoord);
//DdAdDq_Hg.Push(0, i, convert_to_RMatrix(dAd(SE3(p), dad(se3(Vec3(0,0,0),DpDqi), Hg))));
matSet(&DdAdDq_Hg[6*i], dAd(SE3(p), dad(se3(Vec3(0,0,0),DpDqi), Hg)).GetArray(), 6);
}
DHcDq_ = dAd(SE3(p), DHgDq) + DdAdDq_Hg;
DHcDdq_ = dAd(SE3(p), DHgDdq);
// restore the previous settings
for (i=0, iter_pbody = pBodies.begin(); iter_pbody != pBodies.end(); i++, iter_pbody++) {
(*iter_pbody)->fwdJointChain.setM(M[i]);
(*iter_pbody)->fwdJointChain.setJointLoopConstraintType(jlc_type[i]);
}
}
TEST(UX, Crossover){
Individual mom("02134");
Individual dad("41302");
std::vector<int> indices;
indices.push_back(1);
indices.push_back(3);
UX ux(2);
Individual child = ux.cross(indices, &dad, &mom);
ASSERT_EQ(Individual("31204"), child);
ASSERT_EQ(&dad, child.parent(0));
ASSERT_EQ(&mom, child.parent(1));
}
int my_exec(t_sh *sh, char *path)
{
pid_t pid;
if (sh->actual->parent != NULL
&& (sh->actual->parent->fd[0] < 0 || sh->actual->parent->fd[1] < 0))
return (0);
pid = fork();
if (pid == 0)
son(sh, path);
else if (pid > 0)
dad(sh, pid);
else
my_printf("%s: Fork failed\n", sh->av[0]);
return (0);
}
/************************************************************************
Função para subir o elemento de indice i até sua posição correta com
relação aos seus ascendentes
*************************************************************************/
void up (MyHeap* heap, int i)
{
int k;
if (i<(heap->numberOfElements))
{
k = dad(i);
if (i==k) return; // chegou na raiz
if ((heap->S[i]).priority > (heap->S[k]).priority)
{
exchange (heap,i,k);
up (heap,k);
}
}
return;
}
