static public void Main()
{
//create points with the swig doubleArray proxy
//http://www.swig.org/Doc3.0/SWIGDocumentation.html#Library_carrays
doubleArray p = new doubleArray(12); //column major
p.setitem(0, 0.0); p.setitem(3, 0.5); p.setitem(6, 0.5); p.setitem(9, 0.0);
p.setitem(1, 0.0); p.setitem(4, 0.0); p.setitem(7, 1.0); p.setitem(10, 1.0);
p.setitem(2, 0.0); p.setitem(5, 1.0); p.setitem(8, 0.0); p.setitem(11, 1.0);
System.Console.WriteLine("Input points:");
printArray(p, 4);
SWIGTYPE_p_ShapeOpSolver s = shapeopCSharp.shapeop_create();
shapeopCSharp.shapeop_setPoints(s, p.cast(), 4);
double weight = 1.0;
//add a plane constraint to all the vertices.
intArray ids = new intArray(4);
ids.setitem(0, 0); ids.setitem(1, 1); ids.setitem(2, 2); ids.setitem(3, 3);
shapeopCSharp.shapeop_addPlaneConstraint(s, ids.cast(), 4, weight);
//add a closeness constraint to the 1st vertex.
shapeopCSharp.shapeop_addClosenessConstraint(s, 0, weight);
//add a closeness constraint to the 4th vertex.
shapeopCSharp.shapeop_addClosenessConstraint(s, 3, weight);
shapeopCSharp.shapeop_init(s);
shapeopCSharp.shapeop_solve(s, 10);
shapeopCSharp.shapeop_getPoints(s, p.cast(), 4);
shapeopCSharp.shapeop_delete(s);
System.Console.WriteLine("Output points:");
printArray(p, 4);
}
public static intArray frompointer(SWIGTYPE_p_int t)
{
global::System.IntPtr cPtr = IsarMaincsPINVOKE.intArray_frompointer(SWIGTYPE_p_int.getCPtr(t));
intArray ret = (cPtr == global::System.IntPtr.Zero) ? null : new intArray(cPtr, false);
return(ret);
}
public static intArray frompointer(SWIGTYPE_p_int t)
{
global::System.IntPtr cPtr = ompl_basePINVOKE.intArray_frompointer(SWIGTYPE_p_int.getCPtr(t));
intArray ret = (cPtr == global::System.IntPtr.Zero) ? null : new intArray(cPtr, false);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
// Test Driver
public static void Main(string[] args)
{
// Call initialize function to set up any necessary state
System.Console.WriteLine("Calling initialize");
timestwocs.timestwo_initialize();
// 2-by-3 input
int m = 2;
int n = 3;
using (intArray dims = new intArray(2)) // Size vector
using (doubleArray data = new doubleArray(6)) // Data
using (emxArray_real_T x = timestwocs.emxCreateWrapper_real_T(data.cast(), m, n)) // Input
using (emxArray_real_T y = timestwocs.emxCreate_real_T(0, 0)) { // Output
// 2-by-3 input
dims.setitem(0, m);
dims.setitem(1, n);
// Data
int numel = m * n;
for (int i = 0; i < numel; i++)
{
data.setitem(i, i);
}
System.Console.WriteLine("Initial data");
timestwoMain.printArray(data, numel);
// Call entry-point
timestwocs.timestwo(x, y);
// Gather returned data
doubleArray output = doubleArray.frompointer(y.data);
int outputND = y.numDimensions;
intArray outputSize = intArray.frompointer(y.size);
int outputNumel = 1;
for (int dim = 0; dim < outputND; dim++)
{
outputNumel *= outputSize.getitem(dim);
}
timestwoMain.printArray(output, outputNumel);
// Call terminate function to perform any necessary clean up
System.Console.WriteLine("Calling terminate");
timestwocs.timestwo_terminate();
// No need to clean up emxArray variables as destructors are
// automatically called and have the call to emxDestroy_real_T
// injected in them
}
}
private void InternalCallback(uint number, uint inputCount, uint outputCount, global::System.IntPtr inputs, global::System.IntPtr outputs)
{
int[] callbackInput = new int[inputCount];
int[] callbackOutput = new int[outputCount];
Callback(number, inputCount, outputCount, callbackInput, callbackOutput);
using (intArray inputArray = new intArray(inputs, false))
using (intArray outputArray = new intArray(outputs, false))
{
for (int i = 0; i < inputCount; i++)
{
inputArray.setitem(i, callbackInput[i]);
}
for (int i = 0; i < outputCount; i++)
{
outputArray.setitem(i, callbackOutput[i]);
}
}
}
static void Main(string[] args)
{
#region Variables
// ************* Variables *************** //
//Create a variable of type int called id. Initialize it to 75.
int id = 75;
//Create a variable of type string called name. Initialize it to your full name.
string name = "Dylan Abeyta";
//Create a variable of type bool called isValid. Initialize it to true.
bool isValid = true;
//Create a variable of type int called userID. Don't initialize this value. (In C#, ints default to 0)
int userID;
//Create a variable of type string called state. Don't initialize this value. (In C#, strings default to null)
string state;
//Create a variable of type bool called hasRan. Don't initialize this value. (In C#, booleans default to false)
bool hasRan;
//Create a variable of type char called myCharacter. Initialize this value to "a".
char myCharacter = 'a';
//Create a variable of type double called myDouble. Initialize this value to 3.14
double myDouble = 3.14;
//Create a variable of type float called myFloat. Initialize this value to 3.14 (cannot convert double to float, check 1.0 slides)
float myFloat = 3.14f;
//Create a variable of type Random called rand. Initialize it to a new Random Object.
Random rand = new Random();
#endregion
#region Conditionals
// ************ Conditionals ************* //
//Create a variable of type bool called isValid. Initialize it to true.
bool isValid = true;
//if isValid is true, then console writeline "isValid is true"
if (isValid == true)
{
Console.WriteLine("isValid is True");
}
//else if isValid is not true, then console writeline "isValid is not true"
else if (isValid != true)
{
Console.WriteLine("isValid is not true");
}
//Create a variable of type int called x. Initialize it to 75.
int x = 75;
//Create a variable of type int called y. Initialize it to 100.
int y = 100;
//If x is greater than y, then console writeline "X is Greater than Y"
if (x > y)
{
Console.WriteLine("x is greater than y");
}
//else if x is equal to y, then console writeline "X is equal to Y"
else if (x == y)
{
Console.WriteLine("x is equal to y");
}
//else, then console writeline "X is less than Y"
else
{
Cosnole.WriteLine("x is less than y");
}
;
//Create a variable of type string called country. Initialize it to "Mexico".
string country = "Mexico";
//Create a variable of type int called age. Initialize it to 18.
int age = 18;
//If country is "Mexico" and age is greater than or equal to 18 then console writeline "You can legally drive"
if (country == "Mexico" && age >= 18)
{
Console.WriteLine("you can legally drive");
}
//else if country is not "Mexico" and age is greater than or equal to 16 then console writeline "You can legally drive"
else if (country != "Mexico" && age >= 16)
{
Console.WriteLine("you can legally drive");
}
//else console writeline "you cannot legally drive"
else
{
Console.WriteLine("you cannot legally drive");
}
#endregion
#region Loops
// **************** Loops **************** //
//for loop starting at i = 0 and continue while i < 10, incrementing by 1. Console writeline the value of i each time.
for (int i = 0; i < 10; i++)
{
Console.WriteLine(i);
}
//for loop starting at i = 0 and continue while i < 30, incrementing by 2. Console writeline the value of i each time.
for (int i = 0; i < 30; i += 2)
{
Console.WriteLine(i);
}
//for loop starting at i = 30 and continue while i >= 0, decrementing by 1. Console writeline the value of i each time.
for (int i = 30; i >= 0; i--)
{
Console.WriteLine(i);
}
//for loop starting at i = 30 and continue while i > 0, decrementing by 3. Console writeline the value of i each time.
for (int i = 30; i > 0; i -= 3)
{
Console.WriteLine(i);
}
//Create an int variable called index, initialize it to 0.
int index = 0;
//while index < 10 Console writeline index.
while (index < 10)
{
Console.WriteLine(index);
index++;
}
//reset index variable to 0
int index = 0;
//while index < 0 console writeline index
while (index < 0)
{
Console.WriteLine(index);
index++;
}
//Reset index variable to 0
int index = 0;
//do-while index < 10 console writeline index.
do
{
Console.WriteLine(index);
index++;
} while (index < 10);
//reset index variable to 0
int index = 0;
//do-while index < 0 console writeline index
do
{
Console.WriteLine(index);
index++;
} while (index < 0);
//Create an int variable called input, initialize to 0
int input = 0;
//Accept user input with Console.ReadLine and parse it into an integer with int.Parse. Store in input variable.
input = int.Parse(Console.ReadLine());
//do-while input does not equal -1, console writeline "Input -1 to end program, input any other number to continue"
do
{
Console.WriteLine("input -1 to end program, input any other nuumber to continue");
} while (input != -1);
#endregion
#region Arrays
// *************** Arrays **************** //
//Create an array of type int and of size 10 called intArray. Don't initialize any data. (Remember, ints default to 0 so you now have an array of 10 0's.)
int[] intArray = new int[10];
//Create an array of type string and of size 5 called stringArray. Don't initialize any data.
string[] stringArray = new string[5];
//For the following, change each index individually. Do not use a loop or assignment on declaration
intArray[0] = 0;
intArray[1] = 1;
intArray[2] = 2;
intArray[3] = 3;
intArray[4] = 4;
intArray[5] = 5;
intArray[6] = 6;
intArray[7] = 7;
intArray[8] = 8;
intArray[9] = 9;
//Populate intArray with data following the formula: data = index * 3. IE the 3rd element of intArray will equal 9.
intArray[0] *= 3;
intArray[1] *= 3;
intArray[2] *= 3;
intArray[3] *= 3;
intArray[4] *= 3;
intArray[5] *= 3;
intArray[6] *= 3;
intArray[7] *= 3;
intArray[8] *= 3;
intArray[9] *= 3;
//Populate stringArray with the following data: firstName, lastName, city, state, country
stringArray[0] = "firstName";
stringArray[1] = "lastName";
stringArray[2] = "City";
stringArray[3] = "state";
stringArray[4] = "Country";
//for the following use a loop to assign the data into the arrays.
//set each index data of intArray using the following formula: data = index * 2 + 1. IE the 3rd element will equal 7
for (int i = 0; i < 10; i++)
{
intArray[i] = i * 2 + 1;
}
//set each index data of stringArray to "The current index is i" where i is the actual value of i
for (int i = 0; i < 5; i++)
{
stringArray[i] = ("the current is " + i);
}
//reset intArray to be a new int array of size 5. In the same line (hint, use { }) set the values to 0,1,2,3,4.
int[] intArray = new intArray[5] {
0, 1, 2, 3, 4
};
//reset stringArray to be a new string array of size 3. In the same line (hint, use { }) set the values to "buddy", "guy", "Friend"
string[] stringArray = new stringArray[3] {
"buddy", "guy", "Friend"
};
//for int i = 0, continue for the length of intArray, and increment i + 1, console writeline the value of intArray
for (int i = 0; i < intArray.Length; i++)
{
Console.WriteLine(intArray[i]);
}
//for int i = 0, continue for the length of stringArray, and increment i + 1, console writeline the value of stringArray
for (int i = 0; stringArray.Length; i++)
{
Console.WriteLine(stringArray[i]);
}
//iterate over (AKA use a for loop) intArray similarly to what you did above, but do it backwards. Print the last index first, and the 0th index last.
for (int i = intArray.Length; i > 0; i--)
{
Console.WriteLine(intArray[i]);
}
//iterate over (AKA use a for loop) stringArray similarly to what you did above, but do it backwards. Print the last index first, and the 0th index last.
for (int i = stringArray.Length; i > 0; i--)
{
Console.WriteLine(stringArray[i]);
}
#endregion
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(intArray obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
