96 lines
2.4 KiB
C
96 lines
2.4 KiB
C
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#ifndef _SAMPLE_DATA_H
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#define _SAMPLE_DATA_H
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struct SampleData {
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SampleData() :
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count (0), q(NULL), qdot(NULL), qddot(NULL), tau(NULL)
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{}
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~SampleData() {
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deleteData();
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}
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SampleData(const SampleData &data) {
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count = data.count;
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q = new RigidBodyDynamics::Math::VectorNd[count];
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qdot = new RigidBodyDynamics::Math::VectorNd[count];
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qddot = new RigidBodyDynamics::Math::VectorNd[count];
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tau = new RigidBodyDynamics::Math::VectorNd[count];
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durations = data.durations;
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for (unsigned int si = 0; si < count; si++) {
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q[si] = data.q[si];
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qdot[si] = data.qdot[si];
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qddot[si] = data.qddot[si];
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tau[si] = data.tau[si];
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}
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}
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SampleData& operator= (const SampleData &data) {
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if (this != &data) {
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deleteData();
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*this = SampleData (data);
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}
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return *this;
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}
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unsigned int count;
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RigidBodyDynamics::Math::VectorNd *q;
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RigidBodyDynamics::Math::VectorNd *qdot;
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RigidBodyDynamics::Math::VectorNd *qddot;
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RigidBodyDynamics::Math::VectorNd *tau;
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RigidBodyDynamics::Math::VectorNd durations;
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void deleteData() {
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count = 0;
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if (q) {
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delete[] q;
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}
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q = NULL;
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if (qdot) {
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delete[] qdot;
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}
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qdot = NULL;
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if (qddot) {
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delete[] qddot;
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}
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qddot = NULL;
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if (tau) {
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delete[] tau;
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}
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tau = NULL;
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durations.resize(0);
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}
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void fillRandom (int dof_count, int sample_count) {
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deleteData();
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count = sample_count;
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q = new RigidBodyDynamics::Math::VectorNd[count];
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qdot = new RigidBodyDynamics::Math::VectorNd[count];
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qddot = new RigidBodyDynamics::Math::VectorNd[count];
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tau = new RigidBodyDynamics::Math::VectorNd[count];
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for (unsigned int si = 0; si < count; si++) {
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q[si].resize (dof_count);
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qdot[si].resize (dof_count);
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qddot[si].resize (dof_count);
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tau[si].resize (dof_count);
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for (int i = 0; i < dof_count; i++) {
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q[si][i] = (static_cast<double>(rand()) / static_cast<double>(RAND_MAX)) * 2. -1.;
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qdot[si][i] = (static_cast<double>(rand()) / static_cast<double>(RAND_MAX)) * 2. -1.;
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qddot[si][i] = (static_cast<double>(rand()) / static_cast<double>(RAND_MAX)) * 2. -1.;
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tau[si][i] = (static_cast<double>(rand()) / static_cast<double>(RAND_MAX)) * 2. -1.;
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}
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}
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durations = RigidBodyDynamics::Math::VectorNd::Zero(count);
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}
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};
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#endif
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