/// <summary>
/// Creates a Vector4 from a Vector with first 4 elements of provided vector or 0 if vector is smaller
/// </summary>
/// <param name="value">N dimensions base vector</param>
public Vector4(Vector value)
: this(0, 0, 0, 0)
{
if (value == null)
return;
for (int i = 0; i < 4; ++i)
{
this.v[i] = i < value.Dimension ? value[i] : 0;
}
}
private static void MathTest1()
{
Vector v;
Matrix m1 = new Matrix(4, 4,
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
Matrix m2 = new Matrix(2, 4,
1, 0, 2, 0,
0, 1, 0, 2);
Matrix m3 = new Matrix(3, 3,
1, 1, 1,
1, 0, 0,
0, 0, 1);
Matrix m4 = new Matrix(5, 5,
0, 0, 1, 0, 0,
1, 0, 0, 0, 0,
0, 1, 0, 0, 0,
0, 0, 0, 1, 0,
0, 0, 0, 0, 1);
Vector v1 = new Vector(1, 2, 3, 4);
v = 3*v1/v1.Length;
m3 = m3.Inverse;
m4 = m4.Inverse;
}
/// <summary> /// Calculates the output of the State Space Model for a given time and input signal /// </summary> /// <param name="time">The time for which the output will be calculated.</param> /// <param name="signal">Signal vector used to calculate the output.</param> /// <returns>The output of the State Space Model</returns> public abstract Vector Output(double time, Vector signal);
public static void Main(string[] args)
{
SvHangTest();
string variableType;
bool isArray;
int arrayLength;
string variableName;
string variableData;
string data;
Response rsp;
Trigonometric precalculated;
long start;
long end;
start = System.GC.GetTotalMemory(true);
precalculated = new Trigonometric(0.01);
end = System.GC.GetTotalMemory(true);
Console.WriteLine("Size of precalculated trig with precision of {0}: {1}k = {2}M", precalculated.Precision, (end - start) / 1024, (end - start) / (1024 * 1024));
start = System.GC.GetTotalMemory(true);
precalculated = new Trigonometric(0.001);
end = System.GC.GetTotalMemory(true);
Console.WriteLine("Size of precalculated trig with precision of {0}: {1}k = {2}M", precalculated.Precision, (end - start) / 1024, (end - start) / (1024 * 1024));
start = System.GC.GetTotalMemory(true);
precalculated = new Trigonometric(0.0001);
end = System.GC.GetTotalMemory(true);
Console.WriteLine("Size of precalculated trig with precision of {0}: {1}k = {2}M", precalculated.Precision, (end - start) / 1024, (end - start) / (1024 * 1024));
for (double d = -1.5708; d < 6; d += 0.0001)
precalculated.Cos(d);
start = System.GC.GetTotalMemory(true);
precalculated = new Trigonometric(0.00001);
end = System.GC.GetTotalMemory(true);
Console.WriteLine("Size of precalculated trig with precision of {0}: {1}k = {2}M", precalculated.Precision, (end - start) / 1024, (end - start) / (1024 * 1024));
start = System.GC.GetTotalMemory(true);
precalculated = new Trigonometric(0.000001);
end = System.GC.GetTotalMemory(true);
Console.WriteLine("Size of precalculated trig with precision of {0}: {1}k = {2}M", precalculated.Precision, (end - start) / 1024, (end - start) / (1024 * 1024));
start = System.GC.GetTotalMemory(true);
precalculated = new Trigonometric(0.0000001);
end = System.GC.GetTotalMemory(true);
Console.WriteLine("Size of precalculated trig with precision of {0}: {1}k = {2}M", precalculated.Precision, (end - start) / 1024, (end - start) / (1024 * 1024));
double result = precalculated.Sin(0.0001);
Robotics.API.PrimitiveSharedVariables.SharedVariableBuilder.BuildClass(typeof(SuperType), "Z:\\SuperTypeSharedVar.cs");
Robotics.API.PrimitiveSharedVariables.SharedVariableBuilder.BuildClass(typeof(SuperType[]), "Z:\\SuperTypeArraySharedVar.cs");
return;
data = "{ RecognizedSpeech recognizedSpeech { 2 \"robot no\" 0.92161322 \"robot hello\" 0.91587275 } }";
data = "read_var \"{ string connected \\\"BLK OBJ-FNDT\\\" }\" 1";
rsp = Response.Parse(data);
data = rsp.Parameters;
Parser.ParseSharedVariable(data, out variableType, out isArray, out arrayLength, out variableName, out variableData);
Robotics.HAL.Sensors.RecognizedSpeech speech;
Robotics.API.MiscSharedVariables.RecognizedSpeechSharedVariable.SDeserialize(
"{ 2 \"robot no\" 0.92161322 \"robot hello\" 0.91587275", out speech);
Vector2 v2 = null;
Vector3 v3 = Vector3.UnitZ;
foo(new Vector3(1, 2, 3));
Vector v = new Vector(v2);
SharedVars();
//Console.Read();
//BenchmarkCommand();
//MainMath2();
//MainTypes();
//MainSignature();
//MainTypes();
//MainFill();
//MathTest1();
//Console.Read();
}
/// <summary>
/// Subtracts a vector from a vector
/// </summary>
/// <param name="value1">Source vector</param>
/// <param name="value2">Source vector</param>
/// <returns>Result of the subtraction</returns>
public static Vector Substract(Vector value1, Vector value2)
{
if ((value1 == null) || (value2 == null))
throw new ArgumentNullException();
if ((value1 == null) || (value2 == null))
throw new ArgumentNullException();
if (value1.Dimension != value2.Dimension)
throw new ArgumentException("Incompatible vectors");
double[] result = new double[value1.Dimension];
for (int i = 0; i < value1.Dimension; ++i)
result[i] = value1[i] - value2[i];
return new Vector(result);
}
/// <summary> /// Calculates the derivative of the State Space Model for a given time and input signal /// </summary> /// <param name="time">The time for which the derivative will be calculated.</param> /// <param name="signal">Signal vector used to calculate the derivative.</param> /// <returns>The derivative of the State Space Model</returns> public abstract Vector Derivative(double time, Vector signal);
/// <summary>
/// Raises each component of a vector to the specified power
/// </summary>
/// <param name="baseVector">Source vector to be raised to a power</param>
/// <param name="power">A double-precision floating-point number that specifies a power</param>
/// <returns>A vector with each component raised to the power scalar</returns>
public static Vector Pow(Vector baseVector, double power)
{
if (baseVector == null) return new Vector(new double[0]);
double[] pv = new double[baseVector.Length];
for (int i = 0; i < pv.Length; ++i)
{
pv[i] = Math.Pow(baseVector[i], power);
}
return new Vector(pv);
}
/// <summary>
/// Raises a scalar to the specified power by each component of a vector
/// </summary>
/// <param name="baseScalar">A double-precision floating-point number to be raised to a power</param>
/// <param name="power">A vector that specifies an array of powers</param>
/// <returns>A vector with each component equals to he base scalar raised to the power of each vector component</returns>
public static Vector Pow(double baseScalar, Vector power)
{
if (power == null) return new Vector(new double[0]);
double[] pv = new double[power.Length];
for (int i = 0; i < pv.Length; ++i)
{
pv[i] = Math.Pow(baseScalar, power[i]);
}
return new Vector(pv);
}
/// <summary>
/// Multiplies a vector by a scalar value
/// </summary>
/// <param name="value">Source vector</param>
/// <param name="scalar">Scalar value</param>
/// <returns>Result of the multiplication</returns>
public static Vector Multiply(Vector value, double scalar)
{
if (value == null)
throw new ArgumentNullException();
double[] result = new double[value.v.Length];
for (int i = 0; i < result.Length; ++i)
result[i] = value[i] * scalar;
return new Vector(result);
}
/// <summary>
/// Returns a vector pointing in the opposite direction
/// </summary>
/// <param name="value">Source vector</param>
/// <returns>Vector pointing in the opposite direction</returns>
public static Vector Negate(Vector value)
{
if (value == null)
throw new ArgumentNullException();
double[] result = new double[value.Dimension];
for (int i = 0; i < value.Dimension; ++i)
result[i] = value[i] * -1;
return new Vector(result);
}
/// <summary>
/// Calculates the Manhattan Distance between two vectors.
/// The Manhattan distance between two vectors is the sum of the absolute differences of their coordinates.
/// </summary>
/// <param name="value1">Source vector</param>
/// <param name="value2">Source vector</param>
/// <returns>The Manhattan Distance between the vectors.</returns>
public static double ManhattanDistance(Vector value1, Vector value2)
{
if ((value1 == null) || (value2 == null))
throw new ArgumentNullException();
if (value1.Dimension != value2.Dimension)
throw new ArgumentException("Incompatible vectors");
double distance = 0;
for (int i = 0; i < value1.Dimension; ++i)
distance += Math.Abs(value1[i] - value2[i]);
return distance;
}
/// <summary>
/// Calculates the dot product of two vectors
/// </summary>
/// <param name="value1">Source vector</param>
/// <param name="value2">Source vector</param>
/// <returns>The dot product of the two vectors</returns>
public static double Dot(Vector value1, Vector value2)
{
if ((value1 == null) || (value2 == null))
throw new ArgumentNullException();
if (value1.Dimension != value2.Dimension)
throw new ArgumentException("Incompatible vectors");
double result = 0;
for (int i = 0; i < value1.Dimension; ++i)
result += value1[i] * value2[i];
return result;
}
/// <summary>
/// Calculates the Chebyshev Distance between two vectors.
/// The Chebyshev distance between two vectors is the greatest of their differences along any coordinate dimension.
/// </summary>
/// <param name="value1">Source vector</param>
/// <param name="value2">Source vector</param>
/// <returns>The Chebyshev Distance between the vectors.</returns>
public static double ChebyshevDistance(Vector value1, Vector value2)
{
if ((value1 == null) || (value2 == null))
throw new ArgumentNullException();
if (value1.Dimension != value2.Dimension)
throw new ArgumentException("Incompatible vectors");
double distance = 0;
double d;
for (int i = 0; i < value1.Dimension; ++i)
{
d = Math.Abs(value1[i] - value2[i]);
if (d > distance)
distance = d;
}
return distance;
}
/// <summary>
/// Calculates the Canberra Distance between two vectors.
/// The Canberra distance between two vectors is the sum of abs(pi - qi)/(abs(pi) + abs(qi))
/// </summary>
/// <param name="value1">Source vector</param>
/// <param name="value2">Source vector</param>
/// <returns>The Canberra Distance between the vectors.</returns>
public static double CanberraDistance(Vector value1, Vector value2)
{
if ((value1 == null) || (value2 == null))
throw new ArgumentNullException();
if (value1.Dimension != value2.Dimension)
throw new ArgumentException("Incompatible vectors");
double distance = 0;
double diff;
double sum;
for (int i = 0; i < value1.Dimension; ++i)
{
diff = Math.Abs(value1[i] - value2[i]);
sum = Math.Abs(value1[i]) + Math.Abs(value2[i]);
distance+= diff / sum;
}
return distance;
}
/// <summary>
/// Creates a Vector from another Vector
/// This is a copy constructor
/// </summary>
/// <param name="value">Base vector</param>
public Vector(Vector value)
{
if (value == null)
{
v = new double[0];
return;
}
v = new double[value.Dimension];
for (int i = 0; i < v.Length; ++i)
v[i] = value[i];
}
