public void TestEquatable()
{
var pol = new Polar(1.0f, 1.0f);
Assert.IsTrue(pol.Equals(pol));
Assert.IsFalse(pol.Equals(null));
}
public void TestConversionToCartesian()
{
var pol = new Polar(5.0f, (float)Math.Acos(0.8));
Assert.AreEqual(4.0f, pol.X);
Assert.AreEqual(3.0f, pol.Y);
}
public void TestOperatorDivide()
{
var pol = new Polar(1.0f, 0.0f);
Assert.AreEqual(new Polar(0.5f, 0.0f), pol / 2.0f);
Assert.AreEqual(new Polar(2.0f, 0.0f), 2.0f / pol);
Assert.AreEqual(new Polar(1.0f, -Radian.PI), pol / (new Polar(1.0f, Radian.PI)));
Assert.AreEqual(new Polar(0.5f, -Radian.PI), pol / (new Polar(2.0f, Radian.PI)));
}
public void TestOperatorInequality()
{
var x = new Polar(1.0f, 0.0f);
var y = new Polar(1.0f, 1.0f);
Assert.IsFalse(x != x);
Assert.IsFalse(x != (new Polar(1.0f, 0.0f)));
Assert.IsTrue(x != y);
Assert.IsTrue(x != Polar.Zero);
}
public void TestConstruct()
{
Assert.AreEqual(0.0f, Polar.Zero.Radius);
Assert.AreEqual((Radian)0.0f, Polar.Zero.Angle);
var pol1 = new Polar(1.0f, 2.0f);
var pol2 = new Polar(3.0f, new Radian(4.0f));
Assert.AreEqual(1.0f, pol1.Radius);
Assert.AreEqual((Radian)2.0f, pol1.Angle);
Assert.AreEqual(3.0f, pol2.Radius);
Assert.AreEqual(4.0f, (float)pol2.Angle);
}
public void TestRegularized()
{
var pol = new Polar(1.0f, 0.0f);
Assert.AreEqual(new Polar(1.0f, Radian.PI), (new Polar(-1.0f, 0.0f)).Regularized);
Assert.AreEqual(new Polar(1.0f, Radian.PI), (pol * -1.0f).Regularized);
Assert.AreEqual(new Polar(1.0f, Radian.PI), (-pol).Regularized);
Assert.AreEqual(new Polar(1.0f, Radian.PI), (new Polar(1.0f, -Radian.PI)).Regularized);
}
/// <summary>
/// Converts to cartesian.
/// </summary>
/// <param name="radius">The radius.</param>
/// <param name="angle">The angle.</param>
/// <returns>Point.</returns>
public Point ToCartesian(double radius, double angle)
{
return(Polar.ToCartesian(X, Y, radius, angle));
}
private Vector2 PolarToCartesian(Polar polar)
{
return(new Vector2(polar.radius * Mathf.Cos(polar.angle),
polar.radius * Mathf.Sin(polar.angle)));
}
public void generateTree(Position center)
{
var tile = new Tile(Color.Green, Color.Black, 0);
var centerTile = new Tile(Color.Blue, Color.Black, 0);
// Generate radii for the four angles 0, pi/2, pi and 3pi/2
double[] angles = { 0, Math.PI / 2.0, Math.PI, (3.0 * Math.PI) / 2.0 };
double[] radii = new double[4];
do
{
for (int i = 0; i < radii.Length; ++i)
{
//radii[i] = rnd.NextDouble() * (maxRadius - minRadius) + minRadius;
radii[i] = rnd.NextDouble() * ((maxRadius + 0.5) - (maxRadius / 1.5)) + maxRadius / 1.5;
}
//} while (radii.Zip(radii.Skip(1), (x, y) => y - x).Min() < 0.3);
//} while (radii.Zip(radii.Skip(1), (x, y) => Math.Abs(y - x)).Min() < 0.3);
} while ((Math.Abs(radii[0] - radii[2]) < 0.2) || (Math.Abs(radii[1] - radii[3]) < 0.2));
Console.WriteLine("\n---Generated radii:");
for (int i = 0; i < radii.Length; ++i)
{
Console.WriteLine(radii[i]);
}
Console.WriteLine("---");
// Check all
for (int iy = -(int)maxRadius; iy <= (int)maxRadius; ++iy)
{
for (int ix = -(int)maxRadius; ix <= (int)maxRadius; ++ix)
{
var p = Polar.FromVector(new Vector(ix, iy));
int ia = 0, ib = 0;
var found = false;
for (int i = 1; i < radii.Length; ++i)
{
if (p.Angle <= angles[i])
{
ia = i - 1;
ib = i;
found = true;
break;
}
}
if (!found)
{
ia = 3;
ib = 0;
}
var r = CommonMath.LMap(p.Angle, angles[ia], (ib == 0 ? 2.0 * Math.PI : angles[ib]), radii[ia],
radii[ib]);
r = Math.Abs(r);
if (new Vector(2, 0) == new Vector(ix, iy))
{
Console.WriteLine(new Vector(ix, iy) + ":");
Console.WriteLine("Calculated radius: " + r + ", Radius of point: " + p.Radius + ", Angle of point: " + p.Angle);
}
if (new Vector(0, -2) == new Vector(ix, iy))
{
Console.WriteLine(new Vector(ix, iy) + ":");
Console.WriteLine("Calculated radius: " + r + ", Radius of point: " + p.Radius + ", Angle of point: " + p.Angle);
}
if (new Vector(-2, 0) == new Vector(ix, iy))
{
Console.WriteLine(new Vector(ix, iy) + ":");
Console.WriteLine("Calculated radius: " + r + ", Radius of point: " + p.Radius + ", Angle of point: " + p.Angle);
}
if (new Vector(0, 2) == new Vector(ix, iy))
{
Console.WriteLine(new Vector(ix, iy) + ":");
Console.WriteLine("Calculated radius: " + r + ", Radius of point: " + p.Radius + ", Angle of point: " + p.Angle);
}
if (p.Radius <= r)
{
var pos = Position.FromVector(new Vector(ix, iy) + Vector.FromPosition(center));
Screen.SetTile(pos, tile);
}
}
}
Screen.SetTile(center, centerTile);
}
/// <summary>
/// 矫正
/// </summary>
/// <param name="info"></param>
/// <returns></returns>
public override bool Revise(ref EpochInformation info)
{
info.RemoveNoEphemeris();
if (info.Count == 0)
{
return(false);
}
if (XYZ.IsZeroOrEmpty(info.SiteInfo.EstimatedXyz))
{
return(true);//此处让可以继续执行
}
List <SatelliteNumber> tobeDeleteSatsOfLowAnlge = new List <SatelliteNumber>();
List <SatelliteNumber> tobeDeleteSatsOfUnhealth = new List <SatelliteNumber>();
List <SatelliteNumber> tobeDeleteSatsOfNoEphs = new List <SatelliteNumber>();
foreach (var sat in info.EnabledSats)
{
if (!sat.HasEphemeris)
{
tobeDeleteSatsOfNoEphs.Add(sat.Prn);
// log.Error(sat.Prn + ", " + info.ReceiverTime + " , 没有星历！");
sat.Enabled = false;
continue;
}
//高度截止角
Polar polar = sat.Polar;
if (polar.Elevation < VertAngleCut)
{
sat.Enabled = false;
tobeDeleteSatsOfLowAnlge.Add(sat.Prn);//是佛不用删除？？？？2014.12.17
}
//是否健康
// if (!EphemerisService.IsHealth(key.Prn, info.CorrectedTime))
if (!EphemerisService.IsAvailable(sat.Prn, info.ReceiverTime))
{
sat.Enabled = false;
tobeDeleteSatsOfUnhealth.Add(sat.Prn);
}
}
//debug
if (tobeDeleteSatsOfLowAnlge.Count > 0 && tobeDeleteSatsOfLowAnlge.FindAll(m => !RemovedPrn.Contains(m)).Count > 0)
{
StringBuilder sb = new StringBuilder();
sb.Append(info.Name + "," + info.ReceiverTime + ", 高度截止角低于 " + VertAngleCut + " 的卫星: ");
sb.Append(String.Format(new EnumerableFormatProvider(), "{0}", tobeDeleteSatsOfLowAnlge));
log.Debug(sb.ToString());
RemovedPrn.AddRange(tobeDeleteSatsOfLowAnlge.FindAll(m => !RemovedPrn.Contains(m)));
}
info.Remove(tobeDeleteSatsOfLowAnlge, true, "删除高度截止角低于 " + VertAngleCut + " 的卫星");
info.Remove(tobeDeleteSatsOfNoEphs, true, "删除没有星历的卫星");
if (tobeDeleteSatsOfUnhealth.Count > 0)
{
StringBuilder sb = new StringBuilder();
sb.Append("不健康的卫星: ");
sb.Append(String.Format(new EnumerableFormatProvider(), "{0}", tobeDeleteSatsOfUnhealth));
log.Debug(sb.ToString());
info.Remove(tobeDeleteSatsOfUnhealth, true, "不健康的卫星");
}
return(info.EnabledPrns.Count > 0);
}
public Flatland.Turtle Move(double distance)
{
var newPosition = new Polar(angle, distance).ToCartesian().Offset(position);
return(MoveTo(newPosition));
}
/// <summary>
/// 默认构造函数。
/// </summary>
public SatMovingDiffer(SatelliteNumber Prn, Polar first, Polar next)
{
this.Prn = Prn;
this.FirstPolar = first;
this.SecondPolar = next;
}
//Test & Example to call setter commands, except robot's motion
// CAUTION: some operation includes output
// - Beep (outputs some sound)
// - Motor ON/OFF
// - Suction cup ON/OFF
// - Gripper ON/OFF
// - Digital Out 0 ON/OFF
static async Task TestNoMotionCommands(IUArm uArm)
{
await uArm.BeepAsync(440, 50);
Console.WriteLine("Detach All Motors");
await uArm.DetachAllMotorAsync();
await Task.Delay(500);
Console.WriteLine("Attach All Motors");
await uArm.AttachAllMotorAsync();
await Task.Delay(500);
Console.WriteLine("Detach All Motors");
await uArm.DetachMotorAsync(Servos.Bottom);
await uArm.DetachMotorAsync(Servos.Left);
await uArm.DetachMotorAsync(Servos.Right);
await Task.Delay(500);
Console.WriteLine("Attach All Motors");
await uArm.AttachMotorAsync(Servos.Bottom);
await uArm.AttachMotorAsync(Servos.Left);
await uArm.AttachMotorAsync(Servos.Right);
await Task.Delay(500);
// Pos -> Angles by IK -> Pos by FK (Math)
var pos = new Position(100, 100, 100);
var angles = await uArm.GetIKAsync(pos);
Console.WriteLine($"IK, src: X={pos.X}, Y={pos.Y}, Z={pos.Z}");
Console.WriteLine($"IK, res: L={angles.Bottom}, B={angles.Left}, R={angles.Right}");
pos = await uArm.GetFKAsync(angles);
Console.WriteLine($"FK, src: L={angles.Bottom}, B={angles.Left}, R={angles.Right}");
Console.WriteLine($"FK, res: X={pos.X}, Y={pos.Y}, Z={pos.Z}");
// Can Reach or not
pos = new Position(100, 100, 100);
Console.WriteLine($"Can reach to (x,y,z)=({pos.X}, {pos.Y}, {pos.Z})? : {await uArm.CanReachAsync(pos)}");
pos = new Position(300, 300, 100);
Console.WriteLine($"Can reach to (x,y,z)=({pos.X}, {pos.Y}, {pos.Z})? : {await uArm.CanReachAsync(pos)}");
var polar = new Polar(100, 45, 100);
Console.WriteLine($"Can reach to (s,r,h)=({polar.Stretch}, {polar.Rotation}, {polar.Height})? : {await uArm.CanReachAsync(polar)}");
polar = new Polar(400, 200, 100);
Console.WriteLine($"Can reach to (s,r,h)=({polar.Stretch}, {polar.Rotation}, {polar.Height})? : {await uArm.CanReachAsync(polar)}");
Console.WriteLine("Activate and deactivate the pump");
await Task.Delay(1000);
await uArm.SetPumpStateAsync(true);
await Task.Delay(1000);
await uArm.SetPumpStateAsync(false);
Console.WriteLine("Activate and deactivate the gripper");
await Task.Delay(1000);
await uArm.SetGripperStateAsync(true);
await Task.Delay(1000);
await uArm.SetGripperStateAsync(false);
// NO bluetooth operation, because when using this, serial connection will be shut down!
//Console.WriteLine("Activate and deactivate the bluetooth");
//await Task.Delay(1000);
//await uArm.SetBluetoothStateAsync(true);
//await Task.Delay(1000);
//await uArm.SetBluetoothStateAsync(false);
Console.WriteLine("Change digital Out 0 to high, and low");
await Task.Delay(1000);
await uArm.SetDigitalPinOutputAsync(0, true);
await Task.Delay(1000);
await uArm.SetDigitalPinOutputAsync(0, false);
Console.WriteLine("Change ArmMode to Normal, Laser, Printing, Universal Holder, and then Normal again");
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Normal);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Laser);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Printing);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.UniversalHolder);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Normal);
Console.WriteLine("Set Current Position to the reference position");
try
{
await uArm.UpdateReferencePoint();
}
catch (UArmException ex)
{
Console.WriteLine("Expected error, message: " + ex.Message);
}
Console.WriteLine("Set Height zero Point");
await uArm.UpdateHeightZeroPoint();
Console.WriteLine("Set End Effector Height 100mm, and 0mm");
await uArm.SetEndEffectorHeight(100);
await uArm.SetEndEffectorHeight(0);
}
public void TestOperatorMultiply()
{
var pol = new Polar(1.0f, 0.0f);
Assert.AreEqual(new Polar(2.0f, 0.0f), pol * 2.0f);
Assert.AreEqual(new Polar(2.0f, 0.0f), 2.0f * pol);
Assert.AreEqual(new Polar(1.0f, Radian.PI), pol * (new Polar(1.0f, Radian.PI)));
Assert.AreEqual(new Polar(2.0f, Radian.PI), pol * (new Polar(2.0f, Radian.PI)));
}
private Turtle DrawLineSegment(Turtle turtle, Cartesian p1, Polar p2)
{
return(turtle.MoveTo(p1).Line(p2));
}
/// <summary>
/// 指定时段内，可以看见的卫星。
/// </summary>
/// <returns></returns>
public List <VisibilityOfSat> GetPeriodSatAppearTimes()
{
this.LonLats.Clear();
List <VisibilityOfSat> sats = new List <VisibilityOfSat>();
List <StationSatInfo> infos = new List <StationSatInfo>();
List <SatelliteNumber> prns = new List <SatelliteNumber>();
// EphemerisService.EphemerisDataSource.GetEphemerisInfos(
foreach (SatelliteNumber rec in EphemerisService.Prns)//卫星一颗一颗的算
{
if (prns.Contains(rec))
{
continue;
}
prns.Add(rec);
VisibilityOfSat satA = new VisibilityOfSat()
{
PRN = rec, VisibleTimes = new List <BufferedTimePeriod>()
};
sats.Add(satA);
Polar lastP = null;
DateTime f = DateTime.MinValue;
for (int i = 0; i < Count; i++)
{
DateTime time = From + TimeSpan.FromMinutes(i * SpanMinutes);
Time g = new Time(time);
Geo.Coordinates.XYZ xyz = EphemerisService.Get(rec, g).XYZ;
GeoCoord coord = CoordTransformer.XyzToGeoCoord(xyz);
Polar p = CoordTransformer.XyzToGeoPolar(xyz, StationPos);
if (lastP == null)
{
lastP = p; continue;
}
if (p.Elevation >= EleAngle)
{
if (f.Equals(DateTime.MinValue) || lastP.Elevation < EleAngle)
{
f = time;
lastP = p;
continue;
}
}
if (p.Elevation < EleAngle || i == Count - 1) //当前小于指定高度角
{
if (!f.Equals(DateTime.MinValue) && lastP.Elevation > EleAngle) //且上一个时刻是大于的，则终端出现了。
{
BufferedTimePeriod s = new BufferedTimePeriod(f, time);
satA.VisibleTimes.Add(s);
this.LonLats.Add(new Vector(coord.Lon, coord.Lat)
{
Tag = rec.PRN.ToString()
});
}
}
lastP = p;
}
}
sats.Sort();
return(sats);
}
protected void Transfer(Vector3 endPoint, Vector3 endFwd, System.Action onTransferred = null)
{
_transfer = StartCoroutine(_Transfer());
IEnumerator _Transfer()
{
Vector3 startFwd = transform.forward;
Vector3 startPoint = transform.position;
endPoint += endFwd * (Vector3.Distance(startPoint, endPoint) / 2);
// Get circle
Vector3 startRight = transform.right;
Vector3 endRight = Vector3.Cross(endFwd, Vector3.up);
Vector2 ctr2 = Vector2.zero;
Vector3 p0 = startPoint;
Vector3 p1 = startPoint + (startRight * 100);
Vector3 p2 = endPoint;
Vector3 p3 = endPoint - (endRight * 100);
// Try every f*****g permutation
if (!LineIntersection(XZ(p0), XZ(p1), XZ(p2), XZ(p3), ref ctr2))
{
p3 = endPoint + (endRight * 100);
if (!LineIntersection(XZ(p0), XZ(p1), XZ(p2), XZ(p3), ref ctr2))
{
p1 = startPoint - (startRight * 100);
if (!LineIntersection(XZ(p0), XZ(p1), XZ(p2), XZ(p3), ref ctr2))
{
p3 = endPoint - (endRight * 100);
LineIntersection(XZ(p0), XZ(p1), XZ(p2), XZ(p3), ref ctr2);
}
}
}
Vector3 centre = new Vector3(ctr2.x, 0, ctr2.y);
float radius = Vector3.Distance(startPoint, centre);
float dTheta = Vector3.SignedAngle(startFwd, endFwd, -Vector3.up) * Mathf.Deg2Rad;
float arcLength = Mathf.Abs(dTheta * radius);
float startTheta = Mathf.Repeat(Polar.ToPolar(transform.position, centre), Mathf.PI * 2);
float endTheta = startTheta + dTheta;
float time = arcLength / Speed;
// Debug.DrawLine(p0, p1, Color.magenta, 10f);
// Debug.DrawLine(p2, p3, Color.magenta, 10f);
// Debug.DrawRay(startPoint, startFwd*100, Color.yellow, 10f);
// Debug.DrawRay(endPoint, endFwd*100, Color.yellow, 10f);
// Debug.DrawLine(startPoint, centre, Color.green, 10f);
_tp0 = p0;
_tp1 = p1;
_tp2 = p2;
_tp3 = p3;
_tStart = startPoint;
_tsFwd = startFwd;
_tEnd = endPoint;
_teFwd = endFwd;
_tCtr = centre;
_tRad = radius;
float t = 0;
while (t < time)
{
float p = t / time;
float theta = Mathf.Lerp(startTheta, endTheta, p);
theta = Mathf.Repeat(theta, Mathf.PI * 2);
Vector3 circlePos = Polar.FromPolar(theta, radius, centre);
transform.position = Vector3.Lerp(circlePos, Vector3.Lerp(startPoint, endPoint, p), Mathf.Sqrt(p));
transform.rotation = Quaternion.Slerp(Quaternion.LookRotation(startFwd, Vector3.up), Quaternion.LookRotation(endFwd, Vector3.up), p);
t += Time.deltaTime;
yield return(null);
}
transform.position = endPoint;
transform.forward = endFwd;
onTransferred?.Invoke();
_transfer = null;
}
}
/// <summary>
/// 数据刚刚进入，立即执行，最优先的执行，初探
/// </summary>
/// <param name="current"></param>
public override void RawRevise(RinexEpochObservation current)
{
//时段过滤
if (Option.IsEnableTimePeriod)
{
if (!Option.TimePeriod.Contains(current.ReceiverTime))
{
current.Clear(); return;
}
}
//采样率时间赋值
if (this.CurrentIndex == 0 || this.CurrentIndex == -1)
{
this.CurrentIndex = 1;
InitSeconds = current.ReceiverTime.DateTime.TimeOfDay.TotalSeconds;
if (Option.IsEnableInterval && Option.Interval > 1 && InitSeconds % 5 != 0) // 若非0, 5秒整数倍的采样间隔，则强制采用10秒整数倍间隔
{
InitSeconds = 0;
}
}
//采样间隔过滤
if (Option.IsEnableInterval)
{
//首先考虑采样率大于1s
var diff = Math.Round(current.ReceiverTime.DateTime.TimeOfDay.TotalSeconds - InitSeconds) % Option.Interval;
if (diff > 0.5 && Option.Interval > 1)//相差0.5s，认为是同一个历元
{
current.Clear();
return;
}
//采样率太小，直接过滤
if (current.ReceiverTime - PrevOkEpoch < Option.Interval)
{
current.Clear();
return;
}
//10s 以上的整数必须为10倍的整数秒，如 30s采样率，只能出现 00 和 30 秒
if (Option.Interval >= 10 && Option.Interval <= 30 && current.ReceiverTime.Seconds % Option.Interval > 1)
{
current.Clear();
return;
}
}
//移除其它系统
if (Option.IsEnableSatelliteTypes)
{
current.RemoveOther(Option.SatelliteTypes);
}
//观测类型过滤凭借第一字母判断，此处过滤可以加快速度，避免多余计算
if (Option.IsEnableObsTypes)
{
current.RemoveOthers(Option.ObsTypes);
}
//删除观测频率
if (Option.IsEnableRemoveIndicatedFrequence)
{
current.RemoveFrequences(Option.FrequenceNumToBeRemoved);
// log.Info("除频率：" + Geo.Utils.StringUtil.ToString(Option.FrequenceNumToBeRemoved));
}
//移除不能组成电离层组合的卫星
if (Option.IsRemoveIonoFreeUnavaliable)
{
List <RinexSatObsData> list = new List <RinexSatObsData>();
foreach (var sat in current)
{
if (!sat.IsIonoFreeCombinationAvaliable)
{
list.Add(sat);
}
}
foreach (var item in list)
{
current.Remove(item.Prn);
}
}
//移除卫星中对于双频无电离层组合多余的观测值
if (Option.IsRemoveRedundantObsForIonoFree)
{
foreach (var sat in current)
{
sat.RemoveRedundantObsForIonoFree();
}
}
//观测码数量不足的移除
if (ObsCodesToBeRemove != null && ObsCodesToBeRemove.Count > 0)
{
foreach (var sat in current)
{
if (!ObsCodesToBeRemove.ContainsKey(sat.Prn.SatelliteType))
{
continue;
}
var codes = this.ObsCodesToBeRemove[sat.Prn.SatelliteType];
foreach (var item in codes)
{
sat.Remove(item);
}
}
}
//移除指定卫星
if (Option.IsEnableRemoveSats && Option.SatsToBeRemoved != null && Option.SatsToBeRemoved.Count > 0)
{
current.Remove(Option.SatsToBeRemoved);
}
//卫星高度角过滤
if (Option.SatCutOffAngle.Enabled && !XYZ.IsZeroOrEmpty(OldHeader.ApproxXyz))
{
//如果星历范围不包括，则不做更改
if (EphemerisService.TimePeriod.Contains(current.ReceiverTime))
{
List <RinexSatObsData> list = new List <RinexSatObsData>();
foreach (var item in current)
{
var eph = EphemerisService.Get(item.Prn, current.ReceiverTime);
Polar polar = null;
if (eph != null)
{
polar = CoordTransformer.XyzToGeoPolar(eph.XYZ, OldHeader.ApproxXyz);
}
//移除了没有星历的卫星
if (polar == null || polar.Elevation < Option.SatCutOffAngle.Value)
{
list.Add(item);
}
}
foreach (var item in list)
{
current.Remove(item.Prn);
}
}
}
//删除指定数据为空的卫星
if (Option.IsDeleteVacantSat)
{
List <SatelliteNumber> tobeDeletes = new List <SatelliteNumber>();
foreach (var sat in current)
{
foreach (var item in Option.NotVacantCodeList)
{
if (sat.TryGetValue(item) == 0)
{
tobeDeletes.Add(sat.Prn);
}
}
}
current.Remove(tobeDeletes);
}
base.RawRevise(current);
//小时段过滤
if (Option.IsEnableMinEpochCount)
{
SmallObsPeriodRemover.Revise(ref current);
}
}
public Flatland.Turtle Line(Polar p)
{
return(Turn(p.A).Line(p.R));
}
public static void Run()
{
ReactAutoA testAuto = new ReactAutoA();
bool aBool = true;
string aSymb = "my_symbol";
long anInt = 42;
double aFloat = 3.14159;
string aString = "Imagine there's no heaven...";
long aTimeSpan = 60000;
var aRect = (color : "blue", width : 4.16, height : 0.81, bottomLeft : (x : 25, y : 9));
// string aRect = "(color: blue, width: 4.16, height: 0.81, bottom_left: point(x: 25, y: 9))";
var aDateRec = (day : 15, year : 2007, month : 3);
// string aDateRec = "(day: 15, year: 2007, month: 3)";
(int, int, int)aDate = (5, 2, 2018);
var aPoint = (x : 12, y : 7);
// string aPoint = "point(x: 12, y: 7)";
Polar polar = new Polar(ro: 6.28318, theta: 1.73205);
AnyPoint anAnyPoint = polar;
string anAnyPoint_str = "polar(ro: 6.28318, theta: 1.73205)";
var aTuple = (2.71828, "It's easy if you try...", new long[] { 1, 1, 2, 6, 24 });
bool[] aBoolSeq = new bool[] { true, false, false, true };
long[] anIntSeq = new long[] { 100, 101, 102, 103, 104, 105 };
double[] aFloatSeq = new double[] { -2.0, -1.0, 0.0, 1.0, 2.0, 3.0 };
string[] aPointSeq = new string[] { "point(x: 0, y: 0)", "point(x: 1, y: 1)", "point(x: 2, y: 4)" };
string _aPointSeq = "(point(x: 0, y: 0), point(x: 1, y: 1), point(x: 2, y: 4))";
long[] aTimeSpanSeq = new long[] { 60, 3600, 86420 };
// string anIntToSymbMap = "[0 -> zero, 1 -> one, 2 -> two, 3 -> three]";
string anIntToSymbMap = "[1 -> one, 2 -> two, 0 -> zero, 3 -> three]";
testAuto.ABoolInput = aBool;
testAuto.ASymbInput = aSymb;
testAuto.AnIntInput = anInt;
testAuto.AFloatInput = aFloat;
testAuto.AStringInput = aString;
testAuto.ATimeSpanInput = aTimeSpan;
testAuto.ARectInput = aRect;
// testAuto.SetInput(ReactAutoA.Input.A_RECT_INPUT, aRect);
testAuto.ADateRecInput = aDateRec;
// testAuto.SetInput(ReactAutoA.Input.A_DATE_REC_INPUT, aDateRec);
testAuto.ADateInput = aDate;
// testAuto.SetInput(ReactAutoA.Input.A_DATE_INPUT, _aDate);
testAuto.APointInput = aPoint;
// testAuto.SetInput(ReactAutoA.Input.A_POINT_INPUT, aPoint);
testAuto.AnAnyPointInput = anAnyPoint_str;
// testAuto.SetInput(ReactAutoA.Input.AN_ANY_POINT_INPUT, anAnyPoint);
testAuto.ATupleInput = aTuple;
// testAuto.SetInput(ReactAutoA.Input.A_TUPLE_INPUT, _aTuple);
testAuto.ABoolSeqInput = aBoolSeq;
testAuto.AnIntSeqInput = anIntSeq;
testAuto.AFloatSeqInput = aFloatSeq;
// testAuto.APointSeqInput = aPointSeq;
testAuto.SetInput(ReactAutoA.Input.A_POINT_SEQ_INPUT, _aPointSeq);
testAuto.ATimeSpanSeqInput = aTimeSpanSeq;
// testAuto.AnIntToSymbMapInput = anIntToSymbMap;
testAuto.SetInput(ReactAutoA.Input.AN_INT_TO_SYMB_MAP_INPUT, anIntToSymbMap);
testAuto.Apply();
if (testAuto.ABoolOutput != aBool)
{
Console.WriteLine("ERROR: ABoolOutput = {0}, ABool = {1}", testAuto.ABoolOutput, aBool);
return;
}
if (testAuto.ASymbOutput != aSymb)
{
Console.WriteLine("ERROR: ASymbOutput = {0}, ASymb = {1}", testAuto.ASymbOutput, aSymb);
return;
}
if (testAuto.AnIntOutput != anInt)
{
Console.WriteLine("ERROR: AnIntOutput = {0}, AnInt = {1}", testAuto.AnIntOutput, anInt);
return;
}
if (testAuto.AFloatOutput != aFloat)
{
Console.WriteLine("ERROR: AFloatOutput = {0}, AFloat = {1}", testAuto.AFloatOutput, aFloat);
return;
}
if (testAuto.AStringOutput != aString)
{
Console.WriteLine("ERROR: AStringOutput = {0}, AString = {1}", testAuto.AStringOutput, aString);
return;
}
if (testAuto.ATimeSpanOutput != aTimeSpan)
{
Console.WriteLine("ERROR: ATimeSpanOutput = {0}, ATimeSpan = {1}", testAuto.ATimeSpanOutput, aTimeSpan);
return;
}
var outRect = testAuto.ARectOutput;
if (
outRect.color != aRect.color ||
outRect.width != aRect.width ||
outRect.height != aRect.height ||
outRect.bottomLeft.x != aRect.bottomLeft.x ||
outRect.bottomLeft.y != aRect.bottomLeft.y
)
{
Console.WriteLine("ERROR: ARectOutput = {0}, aRect = {1}", outRect, aRect);
return;
}
var outDateRec = testAuto.ADateRecOutput;
if (outDateRec != aDateRec)
{
Console.WriteLine("ERROR: aDateRecOutput = {0}, aDateRec = {1}", outDateRec, aDateRec);
return;
}
if (testAuto.ADateOutput.Item1 != aDate.Item1)
{
Console.WriteLine("ERROR: ADateOutput.Item1 = {0}, ADate.Item1 = {1}", testAuto.ADateOutput.Item1, aDate.Item1);
return;
}
if (testAuto.ADateOutput.Item2 != aDate.Item2)
{
Console.WriteLine("ERROR: ADateOutput.Item2 = {0}, ADate.Item2 = {1}", testAuto.ADateOutput.Item2, aDate.Item2);
return;
}
if (testAuto.ADateOutput.Item3 != aDate.Item3)
{
Console.WriteLine("ERROR: ADateOutput.Item3 = {0}, ADate.Item3 = {1}", testAuto.ADateOutput.Item3, aDate.Item3);
return;
}
var outPoint = testAuto.APointOutput;
if (outPoint.x != aPoint.x || outPoint.y != aPoint.y)
{
Console.WriteLine("ERROR: APointOutput = {0}, APoint = {1}", outPoint, aPoint);
return;
}
if (testAuto.AnAnyPointOutput.ToString() != anAnyPoint.ToString())
{
Console.WriteLine("ERROR: AnAnyPointOutput = {0}, AnAnyPoint = {1}", testAuto.AnAnyPointOutput, anAnyPoint);
return;
}
if (testAuto.ATupleOutput.Item1 != aTuple.Item1)
{
Console.WriteLine("ERROR: ATupleOutput.Item1 = {0}, ATuple.Item1 = {1}", testAuto.ATupleOutput.Item1, aTuple.Item1);
return;
}
if (testAuto.ATupleOutput.Item2 != aTuple.Item2)
{
Console.WriteLine("ERROR: ATupleOutput.Item2 = {0}, ATuple.Item2 = {1}", testAuto.ATupleOutput.Item2, aTuple.Item2);
return;
}
if (!Eq(testAuto.ATupleOutput.Item3, aTuple.Item3))
{
Console.WriteLine("ERROR: ATupleOutput.Item3 = {0}, ATuple.Item3 = {1}", testAuto.ATupleOutput.Item3, aTuple.Item3);
return;
}
if (!Eq(testAuto.ABoolSeqOutput, aBoolSeq))
{
Console.WriteLine("ERROR: ABoolSeqOutput = {0}, ABoolSeq = {1}", testAuto.ABoolSeqOutput, aBoolSeq);
return;
}
if (!Eq(testAuto.AnIntSeqOutput, anIntSeq))
{
Console.WriteLine("ERROR: AnIntSeqOutput = {0}, AnIntSeq = {1}", testAuto.AnIntSeqOutput, anIntSeq);
return;
}
if (!Eq(testAuto.AFloatSeqOutput, aFloatSeq))
{
Console.WriteLine("ERROR: AFloatSeqOutput = {0}, AFloatSeq = {1}", testAuto.AFloatSeqOutput, aFloatSeq);
return;
}
var outPointSeq = testAuto.APointSeqOutput;
string[] strs = new string[outPointSeq.Length];
for (int i = 0; i < strs.Length; i++)
{
strs[i] = string.Format("point(x: {0}, y: {1})", outPointSeq[i].x, outPointSeq[i].y);
}
if (!EqStrV(strs, aPointSeq))
{
Console.WriteLine("ERROR: APointSeqOutput = {0}, APointSeq = {1}", strs, _aPointSeq);
return;
}
if (!Eq(testAuto.ATimeSpanSeqOutput, aTimeSpanSeq))
{
Console.WriteLine("ERROR: ATimeSpanSeqOutput = {0}, ATimeSpanSeq = {1}", testAuto.ATimeSpanSeqOutput, aTimeSpanSeq);
return;
}
// (long, string)[] AnIntToSymbMapOutput;
string str = "[";
foreach (var entry in testAuto.AnIntToSymbMapOutput)
{
if (str != "[")
{
str += ", ";
}
str += string.Format("{0} -> {1}", entry.Item1, entry.Item2);
}
str += "]";
if (str != anIntToSymbMap)
{
Console.WriteLine("ERROR: AnIntToSymbMapOutput = {0}, anIntToSymbMap = {1}", str, anIntToSymbMap);
return;
}
Console.WriteLine("Reactive automata tests passed!");
}
public Flatland.Turtle Move(Polar p)
{
return(Turn(p.A).Move(p.R));
}
public static string ToString2(this Polar p)
{
string s = "(Angle " + p.Angle + ";Distance " + p.Distance + ")";
return(s);
}
public override int GetHashCode()
{
int hash = ((Radius.GetHashCode() << 5) + Radius.GetHashCode()) ^ Polar.GetHashCode();
hash = ((hash << 5) + hash) ^ Elevation.GetHashCode();
return hash;
}
void Start()
{
mPolar = new Polar(transform.position - Target.transform.position);
mRelativePosition = transform.position - Target.transform.position;
}
private void PSCalc_Click(object sender, EventArgs e)
{
double.TryParse(txt_Ua.Text, out double Ua);
double.TryParse(txt_UaPhi.Text, out double PhiUa);
double.TryParse(txt_Ub.Text, out double Ub);
double.TryParse(txt_UbPhi.Text, out double PhiUb);
double.TryParse(txt_Uc.Text, out double Uc);
double.TryParse(txt_UcPhi.Text, out double PhiUc);
double.TryParse(txt_Ia.Text, out double Ia);
double.TryParse(txt_IaPhi.Text, out double PhiIa);
double.TryParse(txt_Ib.Text, out double Ib);
double.TryParse(txt_IbPhi.Text, out double PhiIb);
double.TryParse(txt_Ic.Text, out double Ic);
double.TryParse(txt_IcPhi.Text, out double PhiIc);
string format = "F3";
PhaseSequence sequence = new PhaseSequence();
{
Polar vUa = new Polar(Ua, PhiUa);
Polar vUb = new Polar(Ub, PhiUb);
Polar vUc = new Polar(Uc, PhiUc);
PSData vPositiveU = sequence.CalcPositive(vUa, vUb, vUc);
txt_UPositive.Text = vPositiveU.Amplitude.ToString(format);
txt_PhiUPositive.Text = vPositiveU.Phase.ToString(format);
PSData vNegativeU = sequence.CalcNegative(vUa, vUb, vUc);
txt_UNegative.Text = vNegativeU.Amplitude.ToString(format);
txt_PhiUNegative.Text = vNegativeU.Phase.ToString(format);
PSData vZeroU = sequence.CalcZero(vUa, vUb, vUc);
txt_UZero.Text = vZeroU.Amplitude.ToString(format);
txt_PhiUZero.Text = vZeroU.Phase.ToString(format);
}
{
Polar vIa = new Polar(Ia, PhiIa);
Polar vIb = new Polar(Ib, PhiIb);
Polar vIc = new Polar(Ic, PhiIc);
PSData vPositiveI = sequence.CalcPositive(vIa, vIb, vIc);
txt_IPositive.Text = vPositiveI.Amplitude.ToString(format);
txt_PhiIPositive.Text = vPositiveI.Phase.ToString(format);
PSData vNegativeI = sequence.CalcNegative(vIa, vIb, vIc);
txt_INegative.Text = vNegativeI.Amplitude.ToString(format);
txt_PhiINegative.Text = vNegativeI.Phase.ToString(format);
PSData vZeroI = sequence.CalcZero(vIa, vIb, vIc);
txt_IZero.Text = vZeroI.Amplitude.ToString(format);
txt_PhiIZero.Text = vZeroI.Phase.ToString(format);
}
}
public void Draw(double angle)
{
var pt = new Polar(angle, ORB_SHELL).ToCartesian();
wireframe.Circle(pt, ORB_SIZE);
}
void Start()
{
mPolar = new Polar(transform.position - Target.transform.position);
mPosition = transform.position - Target.transform.position;
mRB = Target.GetComponent <Rigidbody> ();
}
private void Draw(Cartesian p1, Polar p2)
{
endcapPt1.Circle(p1, ENDCAP_RADIUS);
DrawArrowHead(DrawLineSegment(lineSegment, p1, p2));
}
public PolarChart(ChartView BaseChart)
{
this.BaseChart = BaseChart;
polar1 = new Polar();
polar2 = new Polar();
var = new Variables.Variables();
for (int i = 0; i < var.GetValorPolar1.Length / 2; i++)
{
polar1.Add(var.GetValorPolar1[i, 0], var.GetValorPolar1[i, 1]);
}
for (int i = 0; i < var.GetValorPolar2.Length / 2; i++)
{
polar2.Add(var.GetValorPolar2[i, 0], var.GetValorPolar2[i, 1]);
}
polar1.Color = var.GetPaletteBasic[0];
polar2.Color = var.GetPaletteBasic[1];
polar1.Circled = true;
polar2.Circled = true;
polar1.CloseCircle = true;
polar2.CloseCircle = true;
polar1.Pen.Color = Color.White;
polar2.Pen.Color = Color.White;
polar1.CircleLabels = true;
polar1.CircleLabelsInside = false;
polar2.CircleLabels = true;
polar2.CircleLabelsInside = false;
BaseChart.Chart.Series.Add(polar1);
BaseChart.Chart.Series.Add(polar2);
BaseChart.Chart.Title.Text = "Polar";
BaseChart.Chart.Axes.Left.Visible = true;
BaseChart.Chart.Axes.Left.MinorTicks.Transparency = 100;
BaseChart.Chart.Axes.Bottom.MinorTicks.Transparency = 100;
BaseChart.Chart.Axes.Left.SetMinMax(BaseChart.Chart.Axes.Left.MinYValue - 100, BaseChart.Chart.Axes.Left.MaxYValue + 100);
BaseChart.Chart.Axes.Bottom.SetMinMax(BaseChart.Chart.Axes.Bottom.MinYValue - 100, BaseChart.Chart.Axes.Bottom.MaxXValue + 100);
BaseChart.Chart.Axes.Bottom.Automatic = true;
BaseChart.Chart.Axes.Left.Labels.ValueFormat = "0";
BaseChart.Chart.Axes.Bottom.Labels.ValueFormat = "0";
BaseChart.Chart.Axes.Bottom.Increment = 1;
BaseChart.Chart.Axes.Left.Increment = 100;
BaseChart.Chart.Axes.Left.Visible = true;
BaseChart.Chart.Axes.Left.Title = null;
BaseChart.Chart.Axes.Bottom.Title = null;
BaseChart.Chart.Axes.Left.AxisPen.Visible = false;
BaseChart.Chart.Axes.Left.Ticks.Visible = false;
BaseChart.Chart.Axes.Left.Grid.Visible = true;
BaseChart.Chart.Legend.LegendStyle = LegendStyles.Series;
BaseChart.Chart.Axes.Bottom.Grid.Visible = false;
BaseChart.Chart.Panel.MarginLeft = 5;
BaseChart.Chart.Axes.Bottom.AxisPen.Visible = true;
BaseChart.Chart.Axes.Bottom.Visible = true;
BaseChart.Chart.Axes.Left.Increment = 100;
polar1.AngleIncrement = 30;
polar2.AngleIncrement = 30;
polar1.CircleLabelsFont.Size += 2;
polar2.CircleLabelsFont.Size += 2;
polar1.RadiusIncrement = 300;
polar2.RadiusIncrement = 300;
}
public Polar(Polar p) : this(p.r, p.theta)
{
}
