public BoxShape transform(double T[][]) {
BoxShape bs = new BoxShape();
bs.sxyz = LinAlg.copy(sxyz);
bs.vertices = LinAlg.transform(T, vertices);
bs.planes = LinAlg.transformPlanes(T, planes);
return bs;
}
public void addLayer(VisLayer layer, double fviewport[]) {
FPosition fpos = new FPosition();
fpos.layer = layer;
fpos.fviewport = LinAlg.copy(fviewport);
fposes.add(fpos);
vc.draw();
}
public static void mixture() {
Graph g = new Graph();
int cnt = 5;
for (int i = 0; i < cnt; i++) {
GXYTNode gn = new GXYTNode();
gn.init = new double[] {i, 0, 0};
gn.state = LinAlg.copy(gn.init);
gn.truth = new double[3];
g.nodes.add(gn);
if (i > 0) {
double sig = 0.06;
// wheel slippage mode
GXYTEdge ge1 = new GXYTEdge();
ge1.z = new double[] {0, 0, 0};
ge1.P = LinAlg.diag(new double[] {sig, sig, sig});
ge1.nodes = new int[] {i - 1, i};
// nominal odometry
GXYTEdge ge2 = new GXYTEdge();
ge2.z = new double[] {1, 0, 0};
ge2.P = LinAlg.diag(new double[] {sig, sig, sig});
ge2.nodes = new int[] {i - 1, i};
GEdgeMixture ge = new GEdgeMixture(new GEdge[] {ge1, ge2}, new double[] {0.05, 0.95});
g.edges.add(ge);
}
}
if (true) {
GXYTEdge ge = new GXYTEdge();
ge.z = new double[] {cnt, 0, 0};
ge.P = LinAlg.diag(new double[] {0.1, 0.1, 0.1});
ge.nodes = new int[] {0, g.nodes.size() - 1};
g.edges.add(ge);
}
try {
g.write("mixture.graph");
} catch (IOException ex) {
System.out.println("ex: " + ex);
}
}
public void read(StructureReader ins) throws IOException {
int ncomponents = ins.readInt();
components = new GEdge[ncomponents];
weights = new double[ncomponents];
for (int i = 0; i < components.length; i++) {
weights[i] = ins.readDouble();
String cls = ins.readString();
components[i] = (GEdge) ReflectUtil.createObject(cls);
ins.blockBegin();
components[i].read(ins);
ins.blockEnd();
}
attributes = Attributes.read(ins);
nodes = LinAlg.copy(components[0].nodes);
}
/** Components should all be of the same edge type. Weights should sum to 1. * */
public GEdgeMixture(GEdge components[], double weights[]) {
this.components = components;
this.weights = weights;
double total = 0;
assert (components.length == weights.length);
for (int i = 0; i < components.length; i++) {
total += weights[i];
assert (components[i].getClass().equals(components[0].getClass()));
assert (components[i].nodes.length == components[0].nodes.length);
for (int j = 0; j < components[0].nodes.length; j++) {
assert (components[i].nodes[j] == components[0].nodes[j]);
}
}
assert (total >= 0.99 && total <= 1.01);
this.nodes = LinAlg.copy(components[0].nodes);
}
public BoxShape(double sxyz[]) {
this.sxyz = LinAlg.copy(sxyz);
planes = new ArrayList<double[]>();
vertices = new ArrayList<double[]>();
// create planes and vertices
planes.add(new double[] {-1, 0, 0, -sxyz[0] / 2});
planes.add(new double[] {1, 0, 0, -sxyz[0] / 2});
planes.add(new double[] {0, -1, 0, -sxyz[1] / 2});
planes.add(new double[] {0, 1, 0, -sxyz[1] / 2});
planes.add(new double[] {0, 0, -1, -sxyz[2] / 2});
planes.add(new double[] {0, 0, 1, -sxyz[2] / 2});
for (int i = -1; i < 2; i += 2)
for (int j = -1; j < 2; j += 2)
for (int k = -1; k < 2; k += 2)
vertices.add(new double[] {i * sxyz[0] / 2, j * sxyz[1] / 2, k * sxyz[2] / 2});
}
public static void nomixture() {
Graph g = new Graph();
int cnt = 5;
double u = 0.95;
double sig = 0.1075;
for (int i = 0; i < cnt; i++) {
GXYTNode gn = new GXYTNode();
gn.init = new double[] {i, 0, 0};
gn.state = LinAlg.copy(gn.init);
g.nodes.add(gn);
if (i > 0) {
GXYTEdge ge = new GXYTEdge();
ge.z = new double[] {0.95, 0, 0};
ge.P = LinAlg.diag(new double[] {sig, sig, sig});
ge.nodes = new int[] {i - 1, i};
g.edges.add(ge);
}
}
if (true) {
GXYTEdge ge = new GXYTEdge();
ge.z = new double[] {0, 0, 0};
ge.P = LinAlg.diag(new double[] {0.1, 0.1, 0.1});
ge.nodes = new int[] {0, g.nodes.size() - 1};
g.edges.add(ge);
}
try {
g.write("nomixture.graph");
} catch (IOException ex) {
System.out.println("ex: " + ex);
}
}