/*----------------------------------------------------------------------*/ void AzSvDataS::mergeData(const char *x_fn, const char *x_names_fn, const char *fn_template, const char *str, bool doSparse, int digits, const char *out_x_fn, const char *out_n_fn, int num, const char *names[]) { AzSvDataS dataset; dataset.read_features_only(x_fn, x_names_fn); mergeData(dataset.feat(), dataset.featInfo(), fn_template, str, doSparse, digits, out_x_fn, out_n_fn, num, names); }
/* static */ void AzSvDataS::mergeData(int argc, const char *argv[]) { if (argc < 9) { cout << "x_fn x_names_fn fn_template str doSparse digits out_x_fn out_n_fn nm1 [nm2 ...]"<<endl; return; } int argx = 0; const char *x_fn = argv[argx++]; const char *x_names_fn = argv[argx++]; const char *fn_template = argv[argx++]; const char *str = argv[argx++]; const char *doSparse_str = argv[argx++]; int digits = atol(argv[argx++]); const char *out_x_fn = argv[argx++]; const char *out_n_fn = argv[argx++]; int num = argc-argx; const char **names = argv+argx; bool doSparse = false; if (*doSparse_str == '1' || *doSparse_str == 'Y') doSparse = true; mergeData(x_fn, x_names_fn, fn_template, str, doSparse, digits, out_x_fn, out_n_fn, num, names); }
int DataMergeGui::qt_metacall(QMetaObject::Call _c, int _id, void **_a) { _id = QDialog::qt_metacall(_c, _id, _a); if (_id < 0) return _id; if (_c == QMetaObject::InvokeMetaMethod) { switch (_id) { case 0: addMergeList(); break; case 1: removeMergeList(); break; case 2: { bool _r = mergeData(); if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break; case 3: { bool _r = selectionChangedSlot(); if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break; case 4: { bool _r = upButtonSlot(); if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break; case 5: { bool _r = downButtonSlot(); if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break; default: ; } _id -= 6; } return _id; }
RobotCommand TacticTransferObject::getCommand() { AllInMargin=true; RobotCommand rc; if(!wm->ourRobot[id].isValid) return rc; rc.useNav=true; rc.maxSpeed = 1; rc.fin_pos.loc=wm->endPoint;//Vector2D(300,0); int object; addData(); mergeData(); sortData(); // if(wm->balls.size() > 0) // { // qDebug()<< " BALLL . X = " << wm->balls.at(0)->pos.loc.x << " BALLL . Y = " << wm->balls.at(0)->pos.loc.y; // qDebug() << " MAX x : " << region[1].maxX() << " MIN X : " << region[1].minX() ; // qDebug() << " MAX y : " << region[1].maxY() << " MIN y : " << region[1].minY() ; // if(region[0].IsInside(wm->balls.at(0)->pos.loc)) qDebug() << " THE BALLLLL ISSS INNNNN SIDE !!!!!!!!!!!!!!!!!!!!!!1"; // } index = -1; for(int i=0;i<mergedList.size();i++) { // qDebug() << i << " AT : (" << mergedList.at(i).pos.x << "," << mergedList.at(i).pos.y << ")"; temp=0; if(!region[mergedList.at(i).goalRegion].IsInside(mergedList.at(i).pos) && !IsInmargins(mergedList.at(i).pos,300)) { //qDebug() <<" OBJECT : " << mergedList.at(i).pos.x << " ------ Y = " << mergedList.at(i).pos.y;// TOOOOOOOOOOOOOOOOOOOSHE !!!!!!!" << index ; // AllInMargin=false; index=i; goalRegion=mergedList.at(i).goalRegion; temp=1; break; } } for(int i=0; i<mergedList.size(); i++) { if(!IsInmargins(mergedList.at(i).pos,300)) { AllInMargin=false; } } if(AllInMargin) { for(int i=0;i<mergedList.size();i++) { if(!region[mergedList.at(i).goalRegion].IsInside(mergedList.at(i).pos)) { index=i; goalRegion=mergedList.at(i).goalRegion; break; } } } // if(index ==-1) // { // for(int i=0;i<wm->Chasbideh.size(); i++) // { // if(!region[0].IsInside(wm->Chasbideh.at(i).position) && !region[1].IsInside(wm->Chasbideh.at(i).position)) // { // //qDebug() <<" OBJECT : " << mergedList.at(i).pos.x << " ------ Y = " << mergedList.at(i).pos.y;// TOOOOOOOOOOOOOOOOOOOSHE !!!!!!!" << index ; // index=i; // goalRegion=0;//mergedList.at(i).goalRegion; // temp=1; // break; // } // } // } // qDebug() << mergedList.size() << " MERGED SIZE " ; if(index != -1) { Vector2D point2 = mergedList.at(index).pos; Vector2D diff2 = region[goalRegion].center() - point2; bool reach=false; if(temp!=0) { switch(state) { case 0:{ //Go Behind the Object Vector2D space2=diff2; space2.setLength(300); rc.maxSpeed=1.4; rc.useNav = true; rc.fin_pos.loc=point2 - space2; rc.fin_pos.dir=diff2.dir().radian(); object=findnearestObject(mergedShapeList,wm->ourRobot[id].pos.loc); if(object!=-1) ObsC=Circle2D(mergedShapeList.at(object).position,(mergedShapeList.at(object).roundedRadios+ROBOT_RADIUS+150)); rc.fin_pos.loc=AvoidtoEnterCircle(ObsC,wm->ourRobot[id].pos.loc,rc.fin_pos.loc); reach=wm->kn->ReachedToPos(wm->ourRobot[id].pos.loc,rc.fin_pos.loc,150); if(reach) state = 1; } break; case 1:{//Ready to Push rc.useNav = false; rc.maxSpeed=1.2; rc.fin_pos.loc.x=point2.x - (100 + ROBOT_RADIUS)*(diff2.x)/(diff2.length()); // 100 >> Rounded Radius rc.fin_pos.loc.y=point2.y - (100 + ROBOT_RADIUS)*(diff2.y)/(diff2.length()); rc.fin_pos.dir=diff2.dir().radian(); if(((wm->ourRobot[id].pos.loc-point2).length())>400) state=0; reach=wm->kn->ReachedToPos(wm->ourRobot[id].pos.loc,rc.fin_pos.loc,100); if(reach) state = 2; } break; case 2:{//Push //Vector2D diff2 = region2.center() - wm->ourRobot[id].pos.loc ; rc.useNav = false; rc.maxSpeed=1; //if(diff2.length() > 1500) diff2.setLength(1500); // if(((wm->ourRobot[id].pos.loc-point2).length())>400) state=0; diff2.setLength(300); if(((wm->ourRobot[id].pos.loc-point2).length())>600) state=0; if(((wm->ourRobot[id].pos.loc-rc.fin_pos.loc).length())<50) state=0; Vector2D o2r = ( point2 - wm->ourRobot[id].pos.loc ); if(fabs(wm->ourRobot[id].pos.dir - o2r.dir().radian()) > AngleDeg::deg2rad(40)) { qDebug() << " !!!! Out OF Direction !!!! " ; state=1;//4; } rc.fin_pos.loc=point2 + diff2;//5; rc.fin_pos.dir=diff2.dir().radian(); reach=wm->kn->ReachedToPos(wm->ourRobot[id].pos.loc,rc.fin_pos.loc,10); if(reach) state = 3; } break; case 3:{//Release if(region[goalRegion].IsInside(point2)) { //qDebug() << " INNNNNNNNNNNN SIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIDE !!!"; //if(index==agentsR1.size()) rc.fin_pos.loc=Vector2D(0,0); if(temp==0) { rc.fin_pos.loc=Vector2D(0,0); break; } //agentsR1.takeFirst(); //index++; } //if(reach) state = 0; } break; case 4:{// back behind the object } break; } } Vector2D dlta; double mrgn=300; if(IsInmargins(point2,mrgn)) { // qDebug() << " IS IN MARGIN !!!!!!!!!"; int side = ((point2.x-mean_x)/abs(point2.x-mean_x))*((point2.y-mean_y)/abs(point2.y-mean_y)); if(point2.x > MAX_X-mrgn || point2.x < MIN_X+mrgn) { side *= ((point2.y-mean_y)/abs(point2.y-mean_y)); dlta=Vector2D(side*10,side*(ROBOT_RADIUS+/*mergedShapeList.at(index).roundedRadios+*/50));} else if(point2.y > MAX_Y-mrgn || point2.y < MIN_Y+mrgn) { side *=((point2.x-mean_x)/abs(point2.x-mean_x)); dlta=Vector2D(side*(ROBOT_RADIUS+/*mergedShapeList.at(index).roundedRadios+*/50),side*10);} switch(statemargin) { case 0:{ rc.fin_pos.loc=point2+dlta; // object=findnearestObject(mergedShapeList,wm->ourRobot[id].pos.loc); // if(object!=-1) ObsC=Circle2D(mergedShapeList.at(object).position,(mergedShapeList.at(object).roundedRadios+ROBOT_RADIUS)); // rc.fin_pos.loc=AvoidtoEnterCircle(ObsC,wm->ourRobot[id].pos.loc,rc.fin_pos.loc); // int rad = mergedShapeList.at(index).roundedRadios+ROBOT_RADIUS; // Circle2D c(point2,rad); // rc.fin_pos.loc=AvoidtoEnterCircle(c,wm->ourRobot[id].pos.loc,rc.fin_pos.loc); // qDebug()<< "In Margins Pos : ball = ( " << point2.x << ","<< point2.y << ")"; // qDebug()<< "In Margins Pos : delta = ( " << dlta.x << ","<< dlta.y << ")"; // qDebug()<< "In Margins Pos : fin_pos = ( " << rc.fin_pos.loc.x << ","<<rc.fin_pos.loc.y << ")"; // qDebug()<< "In Margins Pos : Robot = ( " << wm->ourRobot[id].pos.loc.x << ","<<wm->ourRobot[id].pos.loc.y << ")"; rc.fin_pos.dir=dlta.dir().radian()-side*M_PI/2; reach=wm->kn->ReachedToPos(wm->ourRobot[id].pos,rc.fin_pos,20,7); // wm->ourRobot[id].pos.loc,rc.fin_pos.loc,200); // qDebug() << "dist To final Pos : " << (wm->ourRobot[id].pos.loc-rc.fin_pos.loc).length(); // qDebug() << " Avoided : " << Avoided << " reach" << reach; if(reach) statemargin = 1; } break; case 1:{ rc.fin_pos.dir = dlta.dir().radian() - side*0.9*M_PI ; rc.fin_pos.loc=point2-dlta; // qDebug() << "Fin_POS . dir = " << AngleDeg::rad2deg(rc.fin_pos.dir) << " ROBOT . dir = " << AngleDeg::rad2deg(wm->ourRobot[id].pos.dir); if(((wm->ourRobot[id].pos.loc-point2).length())>300) statemargin=0; double delta_ang=wm->ourRobot[id].pos.dir-rc.fin_pos.dir; if (delta_ang > M_PI) delta_ang -= (M_PI * 2); if (delta_ang < -M_PI) delta_ang += (M_PI * 2); if(fabs(delta_ang) < AngleDeg::deg2rad(10)) statemargin=0; rc.maxSpeed=1.7; // bool chighz=wm->kn->ReachedToPos(wm->ourRobot[id].pos,rc.fin_pos,20,10); // if(chighz) statemargin=0; // if((wm->ourRobot[id].pos.loc.dir()-rc.fin_pos.dir)<AngleDeg::deg2rad(10)) statemargin=0; // if(((wm->ourRobot[id].pos.loc-rc.fin_pos.loc).length())<250) state=0; } break; } } // qDebug() << rc.fin_pos.loc.x << " ------- Y = " << rc.fin_pos.loc.y << " STATE = " << state; // qDebug() << "STATE = " << state; } //rc.maxSpeed = 1.2;//rc.maxSpeed; // rc.fin_pos.loc.x=rcpast.x + 0.1*(rc.fin_pos.loc.x-rcpast.x); // rc.fin_pos.loc.y=rcpast.y + 0.1*(rc.fin_pos.loc.y-rcpast.y); // rcpast=rc.fin_pos.loc; // qDebug() << " INDEX = " << index ; rc.maxSpeed/=1.4; if(IsInmargins(wm->ourRobot[id].pos.loc,500)) rc.maxSpeed /= 1.5 ; rc.fin_pos.loc=KeepInField(rc); // qDebug() << " This Object Is For Region " << goalRegion ; rc.useNav=false; rc.isBallObs = false; rc.isKickObs = true; return rc; }