int main(int argc, char **argv)
{
ros::init(argc, argv, "pancake_detector");
ros::NodeHandle n;
PancakeDetectorNode pdn(n);
ros::spin();
return 0;
}
void omxComputeNumericDeriv::initFromFrontend(omxState *state, SEXP rObj)
{
super::initFromFrontend(state, rObj);
/*if (state->conListX.size()) {
mxThrow("%s: cannot proceed with constraints (%d constraints found)",
name, int(state->conListX.size()));
}*/
fitMat = omxNewMatrixFromSlot(rObj, state, "fitfunction");
SEXP slotValue;
Rf_protect(slotValue = R_do_slot(rObj, Rf_install("iterations")));
numIter = INTEGER(slotValue)[0];
if (numIter < 2) mxThrow("stepSize must be 2 or greater");
Rf_protect(slotValue = R_do_slot(rObj, Rf_install("parallel")));
parallel = Rf_asLogical(slotValue);
Rf_protect(slotValue = R_do_slot(rObj, Rf_install("checkGradient")));
checkGradient = Rf_asLogical(slotValue);
Rf_protect(slotValue = R_do_slot(rObj, Rf_install("verbose")));
verbose = Rf_asInteger(slotValue);
{
ProtectedSEXP Rhessian(R_do_slot(rObj, Rf_install("hessian")));
wantHessian = Rf_asLogical(Rhessian);
}
Rf_protect(slotValue = R_do_slot(rObj, Rf_install("stepSize")));
stepSize = GRADIENT_FUDGE_FACTOR(3.0) * REAL(slotValue)[0];
if (stepSize <= 0) mxThrow("stepSize must be positive");
knownHessian = NULL;
{
ScopedProtect(slotValue, R_do_slot(rObj, Rf_install("knownHessian")));
if (!Rf_isNull(slotValue)) {
knownHessian = REAL(slotValue);
SEXP dimnames;
ScopedProtect pdn(dimnames, Rf_getAttrib(slotValue, R_DimNamesSymbol));
{
SEXP names;
ScopedProtect p1(names, VECTOR_ELT(dimnames, 0));
{
int nlen = Rf_length(names);
khMap.assign(nlen, -1);
for (int nx=0; nx < nlen; ++nx) {
const char *vname = CHAR(STRING_ELT(names, nx));
for (int vx=0; vx < int(varGroup->vars.size()); ++vx) {
if (strEQ(vname, varGroup->vars[vx]->name)) {
khMap[nx] = vx;
if (verbose >= 1) mxLog("%s: knownHessian[%d] '%s' mapped to %d",
name, nx, vname, vx);
break;
}
}
}
}
}
}
}
numParams = 0;
totalProbeCount = 0;
numParams = 0;
recordDetail = true;
detail = 0;
}
