C_RESULT open_fpad(void){
//double dG[5];
char filename[100];
sprintf(filename,
"gnuplot/grafica-%2.2f,%2.2f,%2.2f-%2.2f,%2.2f,%2.2f-%2.2f,%2.2f,%2.2f-%2.2f,%2.2f,%2.2f-%d.dat",
XGAIN1,XGAIN2,XGAIN3,YGAIN1,YGAIN2,YGAIN3,ZGAIN1,ZGAIN2,ZGAIN3,WGAIN1,WGAIN2,WGAIN3,switchTop);
datosG = fopen( filename, "w");
fprintf( datosG, "# Proyecto: Control de un Quadrotor por VA\n");
fprintf( datosG, "# Datos para la gráfica en GNUplot.\n\n");
fprintf( datosG, "# Error X Error Y Altura Alt. Ref Yaw\n");
zvg = cvCreateImage(cvSize(600,600),IPL_DEPTH_8U,3);
inGraph( &zg );
inControl( varZ );
inControl( varX );
inControl( varY );
inControl( varYaw );
vControlSetRef(varZ,heightTop);
vControlSetRef(varY,0.0);
vControlSetRef(varX,0.0);
vControlSetRef(varYaw,0.0);
//definicion
return C_OK;
}
bool canFinish(int numCourses, vector<pair<int, int>>& prerequisites) {
vector<vector<int>> graph(numCourses, vector<int>());
vector<bool> visited(numCourses, false);
vector<bool> inGraph(numCourses, false);
for(auto p : prerequisites) {
graph[p.first].push_back(p.second);
}
for(int i=0; i<numCourses; i++) {
if(!visited[i]) {
if(hasCircle(graph, inGraph, visited, i)) return false;
}
}
return true;
}
C_RESULT open_fpad(void){
zvg = cvCreateImage(cvSize(600,600),IPL_DEPTH_8U,3);
inGraph( &zg );
inControl( &Z );
inControl( &X );
inControl( &Y );
inControl( &Yaw );
Z.ref=heightTop;
X.ref = 0.0;
Y.ref = 0.0;
Yaw.ref = 0.0;
zg.ref=Z.ref;
/*Z.name="Z";
X.name="X";
Y.name="Y";
Y.name="Y";*/
//definicion
return C_OK;
}
