static void Main(string[] args)
{
// Дано квадратное уравнение вида
// x^2+2x-3=0
var quadratic = new Quadratic()
{
A = 1,
B = 2,
C = -3
};
// Инструмент для решения квадратного уравнения
var resolver = new QuadraticSolver();
// Результат решения квадратного уравнения
var roots = resolver.Solve(quadratic);
// Вывод результата решения задачи
if (roots.HasRoots)
{
Console.WriteLine($"x1 = {roots.Root1}, x2 = {roots.Root2}");
}
else
{
Console.WriteLine("Корней нет");
}
Console.ReadKey();
}
public void Quadratic_0_0_0_has_solution_0()
{
QuadraticSolver solver = new QuadraticSolver(0, 0, 0);
List <double> answer = solver.SolveQuadratic();
Assert.AreEqual(2, answer.Count, "Number of solutions for the quadratic 0, 0, 0 is not equal to 2");
Assert.AreEqual(0, answer[0], "The solution to the quadratic 0, 0, 0 is not equal to 0");
}
public void Lock(ZACommons commons, EventDriver eventDriver)
{
if (Mode != Modes.Locked)
{
return;
}
var shipControl = (ShipControlCommons)commons;
// Guesstimate current target position
var delta = eventDriver.TimeSinceStart - LastTargetUpdate;
var targetGuess = TargetAimPoint + TargetVelocity * delta.TotalSeconds;
// Solve for intersection of expanding sphere + moving object
// Note sphere may have an initial radius (to account for offset from
// CoM) and may only start expanding after some delay (to account for
// firing sequence + acceleration).
var offset = targetGuess - shipControl.ReferencePoint;
var tVelSquared = Vector3D.Dot(TargetVelocity, TargetVelocity);
var a = tVelSquared - ShellSpeed * ShellSpeed;
var offsetDotVel = Vector3D.Dot(offset, TargetVelocity);
var b = 2.0 * (tVelSquared * ShellFireDelay + offsetDotVel - ShellOffset * ShellSpeed);
var c = Vector3D.Dot(offset, offset) + ShellFireDelay * ShellFireDelay * tVelSquared + 2.0 * ShellFireDelay * offsetDotVel - ShellOffset * ShellOffset;
double interceptTime = 0.0;
double s1, s2;
int solutions = QuadraticSolver.Solve(a, b, c, out s1, out s2);
// Pick smallest positive intercept time
if (solutions == 1)
{
if (s1 > 0.0)
{
interceptTime = s1;
}
}
else if (solutions == 2)
{
if (s1 > 0.0)
{
interceptTime = s1;
}
else if (s2 > 0.0)
{
interceptTime = s2;
}
}
var prediction = targetGuess + TargetVelocity * interceptTime;
double yawPitchError;
seeker.Seek(shipControl, prediction - shipControl.ReferencePoint, out yawPitchError);
eventDriver.Schedule(1, Lock);
}
public void FindRoots_FirstTermIsZero_ReturnsCorrectAnswer()
{
double a = 0;
double b = 1;
double c = 3;
List <Complex> roots = QuadraticSolver.FindRoots(a, b, c);
Complex root = new Complex(-3, 0);
Assert.AreEqual(1, roots.Count);
Assert.IsTrue(roots.Exists(x => x == root));
}
public void FindRoots_ComplexRoots_ReturnsCorrectAnswer()
{
double a = 1;
double b = -2;
double c = 4;
List <Complex> roots = QuadraticSolver.FindRoots(a, b, c);
Complex root1 = new Complex(1, Math.Sqrt(3));
Complex root2 = new Complex(1, -Math.Sqrt(3));
Assert.AreEqual(2, roots.Count);
Assert.IsTrue(roots.Exists(x => x == root1));
Assert.IsTrue(roots.Exists(x => x == root2));
}
public void FindRoots_IdenticalRealRoots_ReturnsCorrectAnswer()
{
double a = 1;
double b = -4;
double c = 4;
List <Complex> roots = QuadraticSolver.FindRoots(a, b, c);
Complex root1 = new Complex(2, 0);
Complex root2 = new Complex(2, 0);
Assert.AreEqual(2, roots.Count);
Assert.IsTrue(roots.Exists(x => x == root1));
Assert.IsTrue(roots.Exists(x => x == root2));
}
private static IEquationSolutions Solve(string variable, IExpression expression, ClassificationResult classification)
{
if (classification.EquationType == EquationTypes.Undefined)
{
return(new EquationSolutions());
}
if (classification.SearchResult.ElementAt(0).Key != variable)
{
//var expression = equation.Left;
//var classification = equation.Classification;
//var clone = expression.Clone();
//substitute = new Tuple<string, string>(variable, GetNewVariableForSub(equation));
//var sub = new VariableExpression(substitute.Item2, 1);
//clone.Substitute(ref clone, sub, classification.SearchResult.ElementAt(0).Key);
var sols = Solve(classification.SearchResult.ElementAt(0).Key, expression, classification);
return(sols);
}
else
{
if (classification.EquationType == EquationTypes.Linear)
{
var solver = new LinearSolver();
return(solver.Solve(expression, variable, classification));
}
else if (classification.EquationType == EquationTypes.Quadratic)
{
var solver = new QuadraticSolver();
return(solver.Solve(expression, variable, classification));
}
else if (classification.EquationType == EquationTypes.Trigonometric)
{
var solver = new TrigonometricSolver();
return(solver.Solve(expression, variable, classification));
}
else
{
return(null);
}
}
}
public ComplexNumber solve(function mode)
{
if (mode.Equals(function.Quadratic))
{
IComplexNumberSolver solver = new QuadraticSolver {
ComplexNumber = this
};
return(solver.solveComplexNumber());
}
else if (mode.Equals(function.Qubic))
{
IComplexNumberSolver solver = new QubicSolver {
ComplexNumber = this
};
return(solver.solveComplexNumber());
}
else
{
return(null);
}
}
public static void Run()
{
QuadraticSolver quadraticSolver = new QuadraticSolver();
Console.Write("a:");
quadraticSolver.a = double.Parse(Console.ReadLine());
Console.Write("b:");
quadraticSolver.b = double.Parse(Console.ReadLine());
Console.Write("c:");
quadraticSolver.c = double.Parse(Console.ReadLine());
double?rootA, rootB; //Equivalent to "Nullable<double> rootA, rootB;"
bool areRootsFound = quadraticSolver.Solve(out rootA, out rootB);
//Usage of "var.Value" instead of "var" is recommended
//for nullable types (does not give access to same methods)
string message = (areRootsFound ?
$"roots = {rootA.Value:0.000}, {rootB.Value:0.000}"
: "No real root found");
Console.WriteLine(message);
Console.ReadLine();
}
private void btnGo_Click(object sender, EventArgs e)
{
if (cbOperation.Text.Equals("Quadratic Solver"))
{
this.Hide();
QuadraticSolver qs = new QuadraticSolver();
qs.ShowDialog();
this.Close();
}
else if (!cbOperation.Text.Equals("") && !cbShape.Text.Equals(""))
{
if (cbOperation.Text.Equals("Calculate Area"))
{
if (cbShape.Text.Equals("Circle"))
{
this.Hide();
CircleArea circleArea = new CircleArea();
circleArea.ShowDialog();
this.Close();
}
else if (cbShape.Text.Equals("Square"))
{
this.Hide();
SquareArea squareArea = new SquareArea();
squareArea.ShowDialog();
this.Close();
}
else if (cbShape.Text.Equals("Triangle"))
{
this.Hide();
TriangleArea triangleArea = new TriangleArea();
triangleArea.ShowDialog();
this.Close();
}
}
else if (cbOperation.Text.Equals("Calculate Perimeter"))
{
if (cbShape.Text.Equals("Circle"))
{
this.Hide();
CirclePerimeter circlePerimeter = new CirclePerimeter();
circlePerimeter.ShowDialog();
this.Close();
}
else if (cbShape.Text.Equals("Square"))
{
this.Hide();
SquarePerimeter squarePerimeter = new SquarePerimeter();
squarePerimeter.ShowDialog();
this.Close();
}
else if (cbShape.Text.Equals("Triangle"))
{
this.Hide();
TrianglePerimeter trianglePerimeter = new TrianglePerimeter();
trianglePerimeter.ShowDialog();
this.Close();
}
}
}
}
static void Main(string[] args)
{
int choose;
double a = 0;
double b = 0;
double c = 0;
string pathFile = ConfigurationManager.AppSettings["log"];
StreamWriter writer = new StreamWriter(pathFile, true);
while (true)
{
Console.WriteLine(" Выберите действие");
Console.WriteLine("0. Линейное уравнение");
Console.WriteLine("1. Квадратное уравнение");
Console.WriteLine("2. Перемножить матрицу (данные из файла)");
Console.WriteLine("3. Выход");
while (true)
{
if (Int32.TryParse(Console.ReadLine(), out choose))
{
break;
}
else
{
Console.WriteLine("Введите пожалуйста цифру из предложенных");
}
}
switch (choose)
{
case 0:
Console.WriteLine("Ax + B = 0");
Console.WriteLine("Введите коэффиценты А и В");
while (true)
{
Console.WriteLine("Введите A");
if (Double.TryParse(Console.ReadLine(), out a))
{
break;
}
else
{
Console.WriteLine("Введите пожалуйста цифру");
writer.WriteLine($"Линейное уравнение (ВВОД НЕКОРРЕКТНЫХ ДАННЫХ : А={a} ");
}
}
while (true)
{
Console.WriteLine("Введите B");
if (Double.TryParse(Console.ReadLine(), out b))
{
break;
}
else
{
Console.WriteLine("Введите пожалуйста цифру");
writer.WriteLine($"Линейное уравнение (ВВОД НЕКОРРЕКТНЫХ ДАННЫХ : B={b} ");
}
}
LinearSolver linearEquation = new LinearSolver(a, b);
Console.WriteLine("Корень уравнения: " + linearEquation.solve());
writer.WriteLine($"Линейное уравнение : {a}x+{b} = 0" + "\tКорень уравнения : " + linearEquation.solve());
Console.ReadLine();
break;
case 1:
Console.WriteLine("Ax^2 + Bx + C = 0");
Console.WriteLine("Введите коэффиценты А,B и С");
while (true)
{
Console.WriteLine("Введите A");
if (Double.TryParse(Console.ReadLine(), out a))
{
break;
}
else
{
Console.WriteLine("Введите пожалуйста цифру");
writer.WriteLine($"Квадратное уравнение (ВВОД НЕКОРРЕКТНЫХ ДАННЫХ : А={a} ");
}
}
while (true)
{
Console.WriteLine("Введите B");
if (Double.TryParse(Console.ReadLine(), out b))
{
break;
}
else
{
Console.WriteLine("Введите пожалуйста цифру");
writer.WriteLine($"Квадратное уравнение (ВВОД НЕКОРРЕКТНЫХ ДАННЫХ : B={b} ");
}
}
while (true)
{
Console.WriteLine("Введите C");
if (Double.TryParse(Console.ReadLine(), out c))
{
break;
}
else
{
Console.WriteLine("Введите пожалуйста цифру");
writer.WriteLine($"Квадратное уравнение (ВВОД НЕКОРРЕКТНЫХ ДАННЫХ : C={c} ");
}
}
QuadraticSolver quadriticEquation = new QuadraticSolver(a, b, c);
double[] result = quadriticEquation.solve();
Console.WriteLine($" Корни уравнения : x1= {result[1]} x2= {result[2]}");
writer.WriteLine($"Квадратное уравнение : {a}x^2 + {b}x + c = 0 " + $" Корни уравнения : x1= {result[1]} x2= {result[2]}");
Console.ReadLine();
break;
case 2:
string matrix1 = ConfigurationManager.AppSettings["matrix1"];
string matrix2 = ConfigurationManager.AppSettings["matrix2"];
double[,] A = MatrixSolver.readMatrix(matrix1);
double[,] B = MatrixSolver.readMatrix(matrix1);
Console.WriteLine();
Console.WriteLine("Матрицв А");
MatrixSolver.printMatrix(A);
Console.WriteLine();
Console.WriteLine("Матрицв B");
MatrixSolver.printMatrix(B);
Console.WriteLine();
double[,] answer = MatrixSolver.Multuply(A, B);
if (answer == null)
{
Console.WriteLine("Перемножение невозможно");
}
else
{
Console.WriteLine("Результат");
MatrixSolver.printMatrix(answer);
}
Console.ReadKey();
break;
case 3:
writer.Close();
Environment.Exit(0);
break;
}
}
}
public void ProcessOptiTrackData(OptiTrack.InputFrame data)
{
// Pozycja przekonwertowana z układu optitracka do układu odpowiedniej KUKI
var position = robot.OptiTrackTransformation.Convert(data.Position);
double ballX = position[0];
double ballY = position[1];
double ballZ = position[2];
if (ballZ < 0)
{
ballFell = true;
}
// Zamiast zabawy w te ify trzeba ogarnac LabeledMarkers w optitracku zeby wykryc kiedy dokladnie widzimy pileczke a kiedy nie
if (!ballFell && ballX < 1200 && ballX != 791.016 && ballY != 743.144 && ballZ != 148.319)
{
Console.WriteLine("cc");
if (polyfitZ.Values.Count == maxPolyfitPoints)
{
for (int i = 0; i < maxPolyfitPoints / 2; i++)
{
polyfitX.Values[i] = polyfitX.Values[2 * i];
polyfitY.Values[i] = polyfitY.Values[2 * i];
polyfitZ.Values[i] = polyfitZ.Values[2 * i];
}
polyfitX.Values.RemoveRange(maxPolyfitPoints / 2, maxPolyfitPoints / 2);
polyfitY.Values.RemoveRange(maxPolyfitPoints / 2, maxPolyfitPoints / 2);
polyfitZ.Values.RemoveRange(maxPolyfitPoints / 2, maxPolyfitPoints / 2);
}
polyfitX.AddPoint(elapsedTime, ballX);
polyfitY.AddPoint(elapsedTime, ballY);
polyfitZ.AddPoint(elapsedTime, ballZ);
var xCoeffs = polyfitX.CalculateCoefficients();
var yCoeffs = polyfitY.CalculateCoefficients();
var zCoeffs = polyfitZ.CalculateCoefficients();
var roots = QuadraticSolver.SolveReal(zCoeffs[2], zCoeffs[1], zCoeffs[0] - zPositionAtHit);
elapsedTime += data.FrameDeltaTime;
if (roots.Length != 2)
{
// No real roots
return;
}
double T = roots[1];
chart.AddPoint(T, T);
var ballTargetVelocity = Vector <double> .Build.DenseOfArray(new double[] { xCoeffs[1], yCoeffs[1], 2 * zCoeffs[2] * T + zCoeffs[1] });
Vector <double> paddleNormal = Normalize(reflectionVector) - Normalize(ballTargetVelocity);
if (IsTimeStable(T) && polyfitX.Values.Count >= 10)
{
double timeToHit = T - elapsedTime;
double predX = xCoeffs[1] * T + xCoeffs[0];
double predY = yCoeffs[1] * T + yCoeffs[0];
Console.WriteLine("T: " + T + " X: " + predX + " Y: " + predY);
if (!ballHit && timeToHit >= 0.05) // 0.1 DO SPRAWDZENIA!
{
double angleB = Math.Atan2(paddleNormal[0], paddleNormal[2]) * 180.0 / Math.PI;
double angleC = -90.0 - Math.Atan2(paddleNormal[1], paddleNormal[2]) * 180.0 / Math.PI;
RobotVector predictedHitPosition = new RobotVector(
predX, predY, zPositionAtHit, 0, angleB, angleC
);
//if (robot.Limits.WorkspaceLimits.CheckPosition(predictedHitPosition)) {
// //predkosc na osiach w [mm/s]
// // RobotVector velocity = new RobotVector(0, 0, 0);
// // Dla odwaznych:
// RobotVector velocity = new RobotVector(0, 0, 150);
// robot.MoveTo(predictedHitPosition, velocity, timeToHit);
// robotMoved = true;
//}
}
}
}
}
public void Run(ZACommons commons, EventDriver eventDriver)
{
var shipControl = (ShipControlCommons)commons;
Vector3D?velocity = shipControl.LinearVelocity;
if (velocity != null)
{
// Interpolate position since last update
var delta = eventDriver.TimeSinceStart - LastTargetUpdate;
var targetGuess = TargetAimPoint + TargetVelocity * delta.TotalSeconds;
// Solve for intersection of expanding sphere + moving object
var offset = targetGuess - shipControl.ReferencePoint;
var a = Vector3D.Dot(TargetVelocity, TargetVelocity) - Vector3D.Dot((Vector3D)velocity, (Vector3D)velocity);
var b = 2.0 * Vector3D.Dot(offset, TargetVelocity);
var c = Vector3D.Dot(offset, offset);
double interceptTime = 20.0;
double s1, s2;
int solutions = QuadraticSolver.Solve(a, b, c, out s1, out s2);
// Pick smallest positive intercept time
if (solutions == 1)
{
if (s1 > 0.0)
{
interceptTime = s1;
}
}
else if (solutions == 2)
{
if (s1 > 0.0)
{
interceptTime = s1;
}
else if (s2 > 0.0)
{
interceptTime = s2;
}
}
var prediction = targetGuess + TargetVelocity * interceptTime;
// Determine relative vector to aim point
var targetVector = prediction - shipControl.ReferencePoint;
// Project onto our velocity
var velocityNorm = Vector3D.Normalize((Vector3D)velocity);
var forwardProj = velocityNorm * Vector3D.Dot(targetVector, velocityNorm);
// Use scaled rejection for oversteer
var forwardRej = (targetVector - forwardProj) * OVERSTEER_FACTOR;
// Add to projection to get adjusted aimpoint
var aimPoint = forwardProj + forwardRej;
double yawPitchError;
seeker.Seek(shipControl, aimPoint, out yawPitchError);
}
else
{
// Can't really do crap w/o our own velocity
shipControl.GyroControl.Reset();
}
eventDriver.Schedule(FramesPerRun, Run);
}
