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 doubleArray frompointer(SWIGTYPE_p_double t)
{
global::System.IntPtr cPtr = IsarMaincsPINVOKE.doubleArray_frompointer(SWIGTYPE_p_double.getCPtr(t));
doubleArray ret = (cPtr == global::System.IntPtr.Zero) ? null : new doubleArray(cPtr, false);
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;
int numel = m * n;
using (doubleArray input = new doubleArray(numel)) // Input data
using (doubleArray result = new doubleArray(numel)) { // Result data
// Data
for (int i = 0; i < numel; i++)
{
input.setitem(i, i);
}
System.Console.WriteLine("Initial data");
timestwoMain.printArray(input, numel);
// Call entry-point
timestwocs.timestwo(input.cast(), result.cast());
// Gather returned data
timestwoMain.printArray(result, numel);
// Call terminate function to perform any necessary clean up
System.Console.WriteLine("Calling terminate");
timestwocs.timestwo_terminate();
}
}
public static doubleArray frompointer(SWIGTYPE_p_double t)
{
global::System.IntPtr cPtr = ompl_basePINVOKE.doubleArray_frompointer(SWIGTYPE_p_double.getCPtr(t));
doubleArray ret = (cPtr == global::System.IntPtr.Zero) ? null : new doubleArray(cPtr, false);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
static public void printArray(doubleArray a, int n)
{
for (int c = 0; c < 3; c++)
{
for (int r = 0; r < n; r++)
{
Console.Write(a.getitem(r * 3 + c) + " ");
}
Console.WriteLine();
}
}
public static void printArray(doubleArray d, int n)
{
if (n == 0)
{
System.Console.WriteLine("Empty array");
return;
}
for (int i = 0; i < n - 1; i++)
{
System.Console.WriteLine(d.getitem(i) + ", ");
}
System.Console.WriteLine(d.getitem(n - 1));
}
// 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)
{
double[] callbackInput = new double[inputCount];
double[] callbackOutput = new double[outputCount];
Callback(number, inputCount, outputCount, callbackInput, callbackOutput);
using (doubleArray inputArray = new doubleArray(inputs, false))
using (doubleArray outputArray = new doubleArray(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]);
}
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(doubleArray obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
