int main(){
double dt = 0.1;
double *time;
double t_start, t_end;
int time_steps, Nsamples;
Matrix *xSaved, *zSaved;
double z;
t_start = 0;
t_end = 10;
time_steps =(int)((double)(t_end - t_start)/dt + 0.5);
//arredonda para cima o resultado da divisão
time = (double *)aloca(time_steps*sizeof(double));
int i;
for(i = 0; i < time_steps; i++){
time[i] = i*dt;
}
Nsamples = time_steps;
xSaved = new_M(Nsamples, 3);
zSaved = new_M(Nsamples, 2);
for(i = 0; i < Nsamples; i++)
{
z = getVel();
Matrix *X = NULL;
X = intKalman(z);
xSaved->a[i][0] = time[i];
xSaved->a[i][1] = X->a[0][0];
xSaved->a[i][2] = X->a[1][0];
zSaved->a[i][0] = time[i];
zSaved->a[i][1] = z;
kill_M(&X);
}
const char fileX[] = "../data/X.dat";
const char fileZ[] = "../data/Z.dat";
MatrixPrint2File(xSaved, fileX);
MatrixPrint2File(zSaved, fileZ);
kill_M(&xSaved);
kill_M(&zSaved);
libera(time);
KalmanFilter_End();
EndProgram();
reportGood("O programa chegou ao fim!");
return(0);
}
void Widget::on_pushButton_2_clicked()
{
CONTROL_RECORDING = true;
toRecord_instantDetectionToRecord.clear();
toRecord_instantKalmandEstimation.clear();
for(unsigned int i = 0; i < number_of_objects; i++){
toRecord_instantDetectionToRecord.push_back(vector<QVector3D>());
toRecord_instantKalmandEstimation.push_back(vector<QVector3D>());
}
reportGood("Vamos começar a gravar!");
}
void doGoodBad(struct cdnaInfo *ciList)
{
struct cdnaInfo *ci;
int goodCount = 0;
int badCount = 0;
int poorCount = 0;
struct fineAli *fa;
int bestScore;
for (ci=ciList; ci!=NULL; ci = ci->next)
{
if (ci->isDupe)
continue;
if (ci->fineAli == NULL)
{
reportBad("%s score %d\n", ci->name, 0);
if (ci->roughScore > 32 && ci->roughScore > ci->baseCount/8)
addRedoHash(ci, "dropped");
++badCount;
continue;
}
bestScore = ci->fineScore;
if (bestScore < ci->baseCount/2)
{
fa = ci->fineAli;
reportBad("%s score %f at chromosome %s:%ld-%ld gene %s\n", ci->name, (double)bestScore / (double)ci->baseCount,
chromNames[fa->chromIx], fa->hStart, fa->hEnd, fa->geneName);
addRedoHash(ci, "poor");
++poorCount;
continue;
}
reportGood("cDNA %s size %d %s\n",
ci->name, ci->baseCount, (ci->isEmbryonic ? "embryo" : "unknown"));
for(fa = ci->fineAli;fa!=NULL; fa = fa->next)
{
if (fa->isDupe)
continue;
if (fa->score >= bestScore)
{
char *chromName = chromNames[fa->chromIx];
struct ffAli *ali, *lastAli = NULL;
fa->isGood = TRUE;
reportGood("\tscore %f chromosome %s strand %c %c gene %s\n",
(double)fa->score / (double)ci->baseCount, chromName,
(fa->isRc ? '-' : '+'), (fa->isBackwards ? '-' : '+'), fa->geneName);
for (ali=fa->blocks; ali != NULL; ali = ali->right)
{
reportGood("\t\t%3d %3d | %d %d size %3d goodEnds %2d %2d",
ali->nStart - fa->virtNeedle, ali->nEnd - fa->virtNeedle,
ali->hStart - fa->virtHaystack, ali->hEnd - fa->virtHaystack,
ali->nEnd - ali->nStart, ali->startGood, ali->endGood);
if (lastAli != NULL)
reportGood(" gap %d | %d",
ali->nStart - lastAli->nEnd, ali->hStart - lastAli->hEnd);
reportGood("\n");
lastAli = ali;
}
}
}
++goodCount;
}
printf("%d Good %d Poor %d Bad\n", goodCount, poorCount, badCount);
}
void Widget::recordEnd(){
CONTROL_RECORDING = false;
frames_imprimidos = 0;
frame_control = 0;
imageCounter = 0;
iteration_recording = 0; //reseta para a próxima gravação
//salva dados dos futuros instantêneos
//arruma os dados: temos para cada instante i, os pontos do futuro para as n partículas
//queremos ter para cada uma das n partículas, todos os futuros
vector<vector<QVector3D> > instantFuturePorObjeto;
unsigned int n_de_objetos = instantFutureToRecord[0].size();
//instantFutureToRecord[0].size() = n de objetos no instante 0 = n de objetos em qualquer instante
for(unsigned int n = 0; n < n_de_objetos; n++)
{//para todas as partículas, ler todos os instantes
vector<QVector3D> objeto;
for(unsigned int i = 0; i < instantFutureToRecord.size(); i++)//para cada instante
for(unsigned int j = 0; j < instantFutureToRecord[i][n].size(); j++)//para cada instante previsto do futuro de um instante
objeto.push_back(instantFutureToRecord[i][n][j]);
instantFuturePorObjeto.push_back(objeto);
}
for(unsigned int n = 0; n < instantFuturePorObjeto.size(); n++){
//para cada objeto
QString file_name = QString(file_instanteFutureRecorded.c_str()) + "_" + QString::number(n) + ".data";
QFile file(file_name);
file.open(QIODevice::WriteOnly | QIODevice::Text);
QTextStream out(&file);
out << "# Dados do futuro instantaneo para o objeto " << n << "\n";
out << "#Gerado por OracleKalman by JuarezASF UnB110032829 \n";
out << "#data: " << QDate::currentDate().toString() << "\n";
for(unsigned int i = 0; i < instantFuturePorObjeto[n].size(); i++){
out << instantFuturePorObjeto[n][i].x() << "\t";
out << instantFuturePorObjeto[n][i].y() << "\t";
out << instantFuturePorObjeto[n][i].z() << "\n";
}
file.close();
}
//salva centros detectados
for(unsigned int n = 0; n < number_of_objects; n++){
//para cada objeto
QString file_name = QString(file_centers.c_str()) + QString::number(n) + ".data";
QFile file(file_name);
file.open(QIODevice::WriteOnly | QIODevice::Text);
QTextStream out(&file);
out << "# Dados do instante tomado e centro detectado(x,y) para o objeto " << n << "\n";
out << "#Gerado por OracleKalman by JuarezASF UnB110032829 \n";
out << "#data: " << QDate::currentDate().toString() << "\n";
for(unsigned int i = 0; i < toRecord_instantDetectionToRecord[n].size(); i++){
out << toRecord_instantDetectionToRecord[n][i].x() << "\t";
out << toRecord_instantDetectionToRecord[n][i].y() << "\t";
out << toRecord_instantDetectionToRecord[n][i].z() << "\n";
}
file.close();
}
//salva centros estimados
for(unsigned int n = 0; n < number_of_objects; n++){
//para cada objeto
QString file_name = QString(file_centers.c_str()) + "_kalman_" + QString::number(n) + ".data";
QFile file(file_name);
file.open(QIODevice::WriteOnly | QIODevice::Text);
QTextStream out(&file);
out << "# Dados do instante tomado e centro kalman estimado (x,y) para o objeto " << n << "\n";
out << "#Gerado por OracleKalman by JuarezASF UnB110032829 \n";
out << "#data: " << QDate::currentDate().toString() << "\n";
for(unsigned int i = 0; i < toRecord_instantKalmandEstimation[n].size(); i++){
out << toRecord_instantKalmandEstimation[n][i].x() << "\t";
out << toRecord_instantKalmandEstimation[n][i].y() << "\t";
out << toRecord_instantKalmandEstimation[n][i].z() << "\n";
}
file.close();
}
//salva centro de colisões
{
//para cada objeto
QString file_name = QString(file_colisions.c_str());
QFile file(file_name);
file.open(QIODevice::WriteOnly | QIODevice::Text);
QTextStream out(&file);
out << "# Dados do instante tomado e pontos de colisões " <<"\n";
out << "#Gerado por OracleKalman by JuarezASF UnB110032829 \n";
out << "#data: " << QDate::currentDate().toString() << "\n";
for(unsigned int i = 0; i < toRecord_colisionsPoints.size(); i++){
out << toRecord_colisionsPoints[i].x() << "\t";
out << toRecord_colisionsPoints[i].y() << "\t";
out << toRecord_colisionsPoints[i].z() << "\n";
}
file.close();
}
//reseta para a próxima gravação
instantFutureToRecord.clear();
toRecord_colisionsPoints.clear();
reportGood("Terminamos de Gravar");
}
