public void Show(Graphics g, Coor O)
{
this.O.Show(g, O);
this.C1.Show(g, O);
this.E1.Show1(g, O);
this.E2.Show2(g, O);
}
public Rplidar(Point _startPoint)
{
startPoint = _startPoint;
rp = new SerialPort();
rp.BaudRate = 115200;
rp.PortName = "COM4";
rp.Open();
coor = new Coor();
}
/* data in spherical geocoordinates!!!
* 5 arc-min grids contain 2,160 x 4,320 data points, are 18 MB in size and extend from
* -90+5/120 deg to +90-5/120 deg in latitude direction, and from
* -180+5/120 deg to +180-5/120 deg in longitude direction.
*
* for 1 arc-min The first record is the South-West corner (-89.9917 deg latitude,
* -179.9917 deg longitude), and the last record is the North-East corner
* (89.9917 deg latitude, 179.9917 deg latitude)
* Each grid file contains 10,800 x 21,600 = 233,280,000 records */
public int Offset(int accuracyMin = 1)
{
var equirectangular = new Equirectangular(accuracyMin);
var coor = new Coor {
X = X, Y = -Y
};
return(equirectangular.FullOffset(coor));
}
public void InitBoard()
{
for (int i = 1; i <= 10; i++)
{
for (int j = 1; j <= 10; j++)
{
Coor.Add(new Position("A1", 1).GetCoordinateFrom(i, j), 0);
}
}
}
public void Hide(Graphics g, Coor Ox)
{
try
{
foreach (var item in base.List)
{
item.Hide(g, Ox);
}
}
catch (Exception) { }
}
public void Constructor()
{
var coor = new Coor("70.1:52");
Assert.AreEqual(70.1d, coor.X);
Assert.AreEqual(52, coor.Y);
coor = new Coor(new Point2(-90, 90));
Assert.AreEqual(Math.PI * 1.5, coor.Lambda);
Assert.AreEqual(0, coor.Beta);
}
public void Show(Graphics g, Coor O)
{
foreach (Segment n in nega)
{
n.Show(g, O, true);
}
foreach (Segment n in pose)
{
n.Show(g, O);
}
}
public void Show(Graphics g, Coor Ox)
{
try
{
O.Show(g, Ox);
foreach (var item in base.List)
{
item.Show(g, Ox);
}
}
catch (Exception) { }
}
private void CreateBody(Hipstar body)
{
var go = Instantiate(SpherePrefab);
go.transform.position = Coor.GetPosition(body);
var radius = (float)body.radius * 2;
go.transform.localScale = new Vector3(radius, radius, radius);
var text = go.GetComponentsInChildren <TextMesh>();
text[0].text = body.name;
text[1].text = body.desig;
}
private static Coor Next(Coor coor)
{
if (coor.X == Field.Size - 1)
{
if (coor.Y == Field.Size - 1)
{
return(new Coor(0, 0));
}
return(new Coor(0, coor.Y + 1));
}
coor.X++;
return(coor);
}
private void AddDelta(Coor coor, Dictionary <int, double> deltas, int nearestFirstRingPixel)
{
int previous;
FindNearestPixelInRing(coor, ref nearestFirstRingPixel, out previous);
var delta = Pixels[nearestFirstRingPixel] - coor;
deltas.Add(nearestFirstRingPixel, (delta * delta).Sum);
if (nearestFirstRingPixel != previous)
{
delta = Pixels[previous] - coor;
deltas.Add(previous, (delta * delta).Sum);
}
}
public void Show1(Graphics g, Coor Ox)
{
try
{
O.Show(g, Ox);
foreach (var item in base.List)
{
if (item.X > O.X)
{
item.Show(g, Descart.Point, Ox, Form1.PX / 2);
}
else
{
item.Show(g, Ox);
}
}
}
catch (Exception) { }
}
public static Coor OneStep(Coor start, int direction)
{
switch (direction)
{
case 0:
return(new Coor(start.X - 1, start.Y));
case 1:
return(new Coor(start.X, start.Y - 1));
case 2:
return(new Coor(start.X + 1, start.Y));
case 3:
return(new Coor(start.X, start.Y + 1));
default:
throw new Exception("存在しないベクトルです");
}
}
private bool IsOut(Coor coor, int vector)
{
switch (vector)
{
case 0:
return(coor.X == -1);
case 1:
return(coor.Y == -1);
case 2:
return(coor.X == Field.Size);
case 3:
return(coor.Y == Field.Size);
default:
throw new Exception("存在しないベクトルです");
}
}
private Coor OneBack(Coor coor, int direction)
{
switch (direction)
{
case 0:
return(new Coor(coor.X + 1, coor.Y));
case 1:
return(new Coor(coor.X, coor.Y + 1));
case 2:
return(new Coor(coor.X - 1, coor.Y));
case 3:
return(new Coor(coor.X, coor.Y - 1));
default:
throw new Exception("存在しないベクトルです");
}
}
private static Coor?MoveToStop(Coor start, int direction)
{
var next = start;
Coor last;
while (true)
{
last = next;
next = OneStep(last, direction);
var canMove = (CanMove(next));
if (canMove == null)
{
return(null);
}
else if (canMove == false)
{
return(last);
}
}
}
public static void Calculate(ref Coor[] maxStartPosition, ref int[] maxRoute)
{
maxStartPosition = new Coor[Field.BallNum];
int maxpoint = 0;
int katamuke = 0;
var startBallPosition = new Coor[Field.BallNum];
for (int x0 = 0; x0 < Field.Size; x0++)
{
for (int y0 = 0; y0 < Field.Size; y0++)
{
for (int x1 = 0; x1 < Field.Size; x1++)
{
for (int y1 = 0; y1 < Field.Size; y1++)
{
if (Field.OriginalBoad[x0, y0] == TileState.Wall ||
Field.OriginalBoad[x1, y1] == TileState.Wall ||
(x0 == x1 && y0 == y1)
)
{
continue;
}
startBallPosition[0] = new Coor(x0, y0);
startBallPosition[1] = new Coor(x1, y1);
var field = new S10B2_O();
field.CalculateAllRoute(startBallPosition);
if (field.MaxPoint > maxpoint || (field.MaxPoint == maxpoint && field.MaxRoute.Length > katamuke))
{
maxpoint = field.MaxPoint;
maxStartPosition[0] = startBallPosition[0];
maxStartPosition[1] = startBallPosition[1];
maxRoute = field.MaxRoute;
katamuke = field.MaxRoute.Length;
}
}
}
}
}
}
public KeyValuePair <int, double>[] GetDeltas(Coor coor)
{
// find nearest 2 rings, may be 1 ring in polar areas
var approximately = (int)((90 - coor.Y) / 180 * Pixels.Length);
// beginning of ring above coor
var nearestFirstRingPixelUp = Math.Max(Math.Min(Pixels.Length - 1, approximately), 0);
nearestFirstRingPixelUp -= Pixels[nearestFirstRingPixelUp].PixelInRing - 1;
while (nearestFirstRingPixelUp > 0 && coor.Y > Pixels[nearestFirstRingPixelUp].Y)
{
nearestFirstRingPixelUp -= HealpixManager.PixelsCountInRing(Pixels[nearestFirstRingPixelUp - 1].Ring);
}
// beginning of ring under coor
var nearestFirstRingPixelDown = Math.Max(0, nearestFirstRingPixelUp);
while (nearestFirstRingPixelDown < Pixels.Length && coor.Y < Pixels[nearestFirstRingPixelDown].Y)
{
nearestFirstRingPixelDown += HealpixManager.PixelsCountInRing(Pixels[nearestFirstRingPixelDown].Ring);
}
var deltas = new Dictionary <int, double>();
if (nearestFirstRingPixelUp >= 0)
{
AddDelta(coor, deltas, nearestFirstRingPixelUp);
}
if (nearestFirstRingPixelDown < Pixels.Length &&
nearestFirstRingPixelDown != nearestFirstRingPixelUp)
{
AddDelta(coor, deltas, nearestFirstRingPixelDown);
}
// approximation-normalization only for 2 closest points
return((from d in deltas orderby d.Value select d).Take(2).ToArray());
}
public Coor Xy2Ang(HealpixPos healPos)
{
var result = new Coor();
if (Math.Abs(healPos.Y) > Math.PI / 2 * (K - 1) / H)
{
// polar
var sign = healPos.Y > 0 ? 1 : -1;
var sigma = (K + 1d) / 2 - Math.Abs(healPos.Y * H) / Math.PI;
result.Beta = sign * Math.Asin(1 - sigma * sigma / K);
var omega = K % 2 == 1 || result.Beta > 0 ? 1 : 0;
var xc = -Math.PI +
(2 * Math.Floor((healPos.X + Math.PI) * H / (2 * Math.PI) + (1d - omega) / 2) + omega) *
Math.PI / H;
result.Lambda = xc + (healPos.X - xc) / sigma;
}
else
{
// equatorial
result.Lambda = healPos.X;
result.Beta = Math.Asin(healPos.Y * H * 2 / (Math.PI * K));
}
return(result);
}
public void Offset()
{
var e = new Equirectangular(5);
var coor = new Coor {
X = 0, Y = 0
};
Assert.AreEqual(2160, e.Offset(coor).X);
Assert.AreEqual(1080, e.Offset(coor).Y);
e = new Equirectangular(new HealpixManager(5));
Assert.AreEqual(64, e.Offset(coor).X); // or 64?
Assert.AreEqual(32, e.Offset(coor).Y);
coor = new Coor {
X = 180, Y = -90
};
Assert.AreEqual(127, e.Offset(coor).X);
Assert.AreEqual(64, e.Offset(coor).Y); // or 64?
coor = new Coor {
X = -180, Y = -90
};
Assert.AreEqual(0, e.Offset(coor).X);
}
public Node(Coor coor, TileState tile)
{
this.Tile = tile;
this.Coor = coor;
this.Next = new Node[4];
}
public double GetMeanAltitude(Coor coor, Func <int, double> func)
{
return(ColorsManager.LinearApproximation(GetDeltas(coor), func));
}
/// <summary>
/// Получить координату размещения по индексу.
/// </summary>
/// <param name="index">Индекс.</param>
/// <returns>Координата размещения.</returns>
public void CopyCoorTo(Coor coor)
{
for (int i = 0; i < Dim; i++)
coor[i] = this.coor[i];
}
/// <summary>
/// Установить координату размещения по индексу.
/// </summary>
/// <param name="index">Индекс.</param>
/// <param name="value">Новое значение координаты размещения.</param>
/// <returns>Координата размещения.</returns>
public void CopyCoorFrom(Coor coor)
{
for (int i = 0; i < Dim; i++)
this.coor[i] = coor[i];
}
public static void CreateBoad()
{
Boad = new Node[Field.Size, Field.Size];
CanOutList = new List <Coor>();
//初期化
for (int x = 0; x < Field.Size; x++)
{
for (int y = 0; y < Field.Size; y++)
{
Boad[x, y] = new Node(new Coor(x, y), Field.OriginalBoad[x, y]);
}
}
//対応付け(node初期化)
for (int x = 0; x < Field.Size; x++)
{
for (int y = 0; y < Field.Size; y++)
{
var coor = new Coor(x, y);
var targetTile = Boad[coor.X, coor.Y];
for (int direction = 0; direction < 4; direction++)
{
var nextTile = MoveToStop(coor, direction);
if (nextTile != null)
{
targetTile.Next[direction] = Boad[nextTile.Value.X, nextTile.Value.Y];
}
}
}
}
//外に出られるノードを探す
var count = 1;
while (count != 0)
{
count = 0;
for (int x = 0; x < Field.Size; x++)
{
for (int y = 0; y < Field.Size; y++)
{
// まだCanOutになっていなくて、CanOutに移動できるものはTrue
if (Field.OriginalBoad[x, y] != TileState.Wall && !Boad[x, y].CanOut && (Boad[x, y].Next.Contains(null) || Boad[x, y].Next.Any(n => n.CanOut)))
{
Boad[x, y].CanOut = true;
count++;
}
}
}
Console.WriteLine("count=" + count);
}
// 外に出られるノードのリスト
for (int x = 0; x < Field.Size; x++)
{
for (int y = 0; y < Field.Size; y++)
{
if (Field.OriginalBoad[x, y] != TileState.Wall &&
Boad[x, y].CanOut
)
{
CanOutList.Add(new Coor(x, y));
}
}
}
}
/// <summary>
/// Конструктор по-умолчанию.
/// </summary>
public Rect()
{
coor = new Coor();
}
/// <summary>
/// Конструктор по-умолчанию.
/// </summary>
public R()
{
size = new Coor();
}
public Earth2014Manager(Coor center, int accuracyMin = 1, int radiusGrad = 10)
: this(ReliefType.Bed, accuracyMin)
{
_center = center;
/// FillBuffer(center, radiusGrad);
}
public double GetMeanAltitude(Coor coor)
{
return(GetMeanAltitude(coor, P => Pixels[P].Altitude.Value));
}
public Point2 Offset(Coor coor)
{
return(new Point2(
(int)Math.Round(X(coor.X)),
(int)Math.Round(Y(coor.Y))));
}
private Coor AddVector(Coor coor1, Coor coor2)
{
return(new Coor(coor1.X + coor2.X, coor1.Y + coor2.Y));
}
/// <summary>
/// Скопировать размер из внешней переменной.
/// </summary>
/// <param name="size">Внешняя переменная.</param>
public override void CopySizeFrom(Coor size)
{
for (int i = 0; i < Dim; i++)
if (!freez[i])
this.size[i] = size[i];
}
public double GetMeanDeltas(Coor coor, bool forBmp = false)
{
var s = (from d in GetDeltas(coor) orderby d.Value select d.Value).Take(2).Sum();
return(forBmp ? s * 5 : Math.Sqrt(s));
}
/// <summary>
/// Скопировать размер из внешней переменной.
/// </summary>
/// <param name="size">Внешняя переменная.</param>
public virtual void CopySizeFrom(Coor size)
{
for (int i = 0; i < Dim; i++)
this.size[i] = size[i];
}
/// <summary>
/// Скопировать размер во внешнюю переменную.
/// </summary>
/// <param name="size">Внешняя переменная.</param>
public virtual void CopySizeTo(Coor size)
{
for (int i = 0; i < Dim; i++)
size[i] = this.size[i];
}
public int FullOffset(Coor coor)
{
return((int)Math.Round(
(/*rounding is important*/ Math.Round(Y(coor.Y)) * _width)
+ X(coor.X)));
}
private static bool?CanMove(Coor coor)
{
return((coor.X == -1 || coor.Y == -1 || coor.X == Field.Size || coor.Y == Field.Size)
? (bool?)null
: Field.OriginalBoad[coor.X, coor.Y] != TileState.Wall);
}
