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  • StreamInsight 2.1, meet LINQ

    - by Roman Schindlauer
    Someone recently called LINQ “magic” in my hearing. I leapt to LINQ’s defense immediately. Turns out some people don’t realize “magic” is can be a pejorative term. I thought LINQ needed demystification. Here’s your best demystification resource: http://blogs.msdn.com/b/mattwar/archive/2008/11/18/linq-links.aspx. I won’t repeat much of what Matt Warren says in his excellent series, but will talk about some core ideas and how they affect the 2.1 release of StreamInsight. Let’s tell the story of a LINQ query. Compile time It begins with some code: IQueryable<Product> products = ...; var query = from p in products             where p.Name == "Widget"             select p.ProductID; foreach (int id in query) {     ... When the code is compiled, the C# compiler (among other things) de-sugars the query expression (see C# spec section 7.16): ... var query = products.Where(p => p.Name == "Widget").Select(p => p.ProductID); ... Overload resolution subsequently binds the Queryable.Where<Product> and Queryable.Select<Product, int> extension methods (see C# spec sections 7.5 and 7.6.5). After overload resolution, the compiler knows something interesting about the anonymous functions (lambda syntax) in the de-sugared code: they must be converted to expression trees, i.e.,“an object structure that represents the structure of the anonymous function itself” (see C# spec section 6.5). The conversion is equivalent to the following rewrite: ... var prm1 = Expression.Parameter(typeof(Product), "p"); var prm2 = Expression.Parameter(typeof(Product), "p"); var query = Queryable.Select<Product, int>(     Queryable.Where<Product>(         products,         Expression.Lambda<Func<Product, bool>>(Expression.Property(prm1, "Name"), prm1)),         Expression.Lambda<Func<Product, int>>(Expression.Property(prm2, "ProductID"), prm2)); ... If the “products” expression had type IEnumerable<Product>, the compiler would have chosen the Enumerable.Where and Enumerable.Select extension methods instead, in which case the anonymous functions would have been converted to delegates. At this point, we’ve reduced the LINQ query to familiar code that will compile in C# 2.0. (Note that I’m using C# snippets to illustrate transformations that occur in the compiler, not to suggest a viable compiler design!) Runtime When the above program is executed, the Queryable.Where method is invoked. It takes two arguments. The first is an IQueryable<> instance that exposes an Expression property and a Provider property. The second is an expression tree. The Queryable.Where method implementation looks something like this: public static IQueryable<T> Where<T>(this IQueryable<T> source, Expression<Func<T, bool>> predicate) {     return source.Provider.CreateQuery<T>(     Expression.Call(this method, source.Expression, Expression.Quote(predicate))); } Notice that the method is really just composing a new expression tree that calls itself with arguments derived from the source and predicate arguments. Also notice that the query object returned from the method is associated with the same provider as the source query. By invoking operator methods, we’re constructing an expression tree that describes a query. Interestingly, the compiler and operator methods are colluding to construct a query expression tree. The important takeaway is that expression trees are built in one of two ways: (1) by the compiler when it sees an anonymous function that needs to be converted to an expression tree, and; (2) by a query operator method that constructs a new queryable object with an expression tree rooted in a call to the operator method (self-referential). Next we hit the foreach block. At this point, the power of LINQ queries becomes apparent. The provider is able to determine how the query expression tree is evaluated! The code that began our story was intentionally vague about the definition of the “products” collection. Maybe it is a queryable in-memory collection of products: var products = new[]     { new Product { Name = "Widget", ProductID = 1 } }.AsQueryable(); The in-memory LINQ provider works by rewriting Queryable method calls to Enumerable method calls in the query expression tree. It then compiles the expression tree and evaluates it. It should be mentioned that the provider does not blindly rewrite all Queryable calls. It only rewrites a call when its arguments have been rewritten in a way that introduces a type mismatch, e.g. the first argument to Queryable.Where<Product> being rewritten as an expression of type IEnumerable<Product> from IQueryable<Product>. The type mismatch is triggered initially by a “leaf” expression like the one associated with the AsQueryable query: when the provider recognizes one of its own leaf expressions, it replaces the expression with the original IEnumerable<> constant expression. I like to think of this rewrite process as “type irritation” because the rewritten leaf expression is like a foreign body that triggers an immune response (further rewrites) in the tree. The technique ensures that only those portions of the expression tree constructed by a particular provider are rewritten by that provider: no type irritation, no rewrite. Let’s consider the behavior of an alternative LINQ provider. If “products” is a collection created by a LINQ to SQL provider: var products = new NorthwindDataContext().Products; the provider rewrites the expression tree as a SQL query that is then evaluated by your favorite RDBMS. The predicate may ultimately be evaluated using an index! In this example, the expression associated with the Products property is the “leaf” expression. StreamInsight 2.1 For the in-memory LINQ to Objects provider, a leaf is an in-memory collection. For LINQ to SQL, a leaf is a table or view. When defining a “process” in StreamInsight 2.1, what is a leaf? To StreamInsight a leaf is logic: an adapter, a sequence, or even a query targeting an entirely different LINQ provider! How do we represent the logic? Remember that a standing query may outlive the client that provisioned it. A reference to a sequence object in the client application is therefore not terribly useful. But if we instead represent the code constructing the sequence as an expression, we can host the sequence in the server: using (var server = Server.Connect(...)) {     var app = server.Applications["my application"];     var source = app.DefineObservable(() => Observable.Range(0, 10, Scheduler.NewThread));     var query = from i in source where i % 2 == 0 select i; } Example 1: defining a source and composing a query Let’s look in more detail at what’s happening in example 1. We first connect to the remote server and retrieve an existing app. Next, we define a simple Reactive sequence using the Observable.Range method. Notice that the call to the Range method is in the body of an anonymous function. This is important because it means the source sequence definition is in the form of an expression, rather than simply an opaque reference to an IObservable<int> object. The variation in Example 2 fails. Although it looks similar, the sequence is now a reference to an in-memory observable collection: var local = Observable.Range(0, 10, Scheduler.NewThread); var source = app.DefineObservable(() => local); // can’t serialize ‘local’! Example 2: error referencing unserializable local object The Define* methods support definitions of operator tree leaves that target the StreamInsight server. These methods all have the same basic structure. The definition argument is a lambda expression taking between 0 and 16 arguments and returning a source or sink. The method returns a proxy for the source or sink that can then be used for the usual style of LINQ query composition. The “define” methods exploit the compile-time C# feature that converts anonymous functions into translatable expression trees! Query composition exploits the runtime pattern that allows expression trees to be constructed by operators taking queryable and expression (Expression<>) arguments. The practical upshot: once you’ve Defined a source, you can compose LINQ queries in the familiar way using query expressions and operator combinators. Notably, queries can be composed using pull-sequences (LINQ to Objects IQueryable<> inputs), push sequences (Reactive IQbservable<> inputs), and temporal sequences (StreamInsight IQStreamable<> inputs). You can even construct processes that span these three domains using “bridge” method overloads (ToEnumerable, ToObservable and To*Streamable). Finally, the targeted rewrite via type irritation pattern is used to ensure that StreamInsight computations can leverage other LINQ providers as well. Consider the following example (this example depends on Interactive Extensions): var source = app.DefineEnumerable((int id) =>     EnumerableEx.Using(() =>         new NorthwindDataContext(), context =>             from p in context.Products             where p.ProductID == id             select p.ProductName)); Within the definition, StreamInsight has no reason to suspect that it ‘owns’ the Queryable.Where and Queryable.Select calls, and it can therefore defer to LINQ to SQL! Let’s use this source in the context of a StreamInsight process: var sink = app.DefineObserver(() => Observer.Create<string>(Console.WriteLine)); var query = from name in source(1).ToObservable()             where name == "Widget"             select name; using (query.Bind(sink).Run("process")) {     ... } When we run the binding, the source portion which filters on product ID and projects the product name is evaluated by SQL Server. Outside of the definition, responsibility for evaluation shifts to the StreamInsight server where we create a bridge to the Reactive Framework (using ToObservable) and evaluate an additional predicate. It’s incredibly easy to define computations that span multiple domains using these new features in StreamInsight 2.1! Regards, The StreamInsight Team

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  • Generated 3d tree meshes

    - by Jari Komppa
    I did not find a question on these lines yet, correct me if I'm wrong. Trees (and fauna in general) are common in games. Due to their nature, they are a good candidate for procedural generation. There's SpeedTree, of course, if you can afford it; as far as I can tell, it doesn't provide the possibility of generating your tree meshes at runtime. Then there's SnappyTree, an online webgl based tree generator based on the proctree.js which is some ~500 lines of javascript. One could use either of above (or some other tree generator I haven't stumbled upon) to create a few dozen tree meshes beforehand - or model them from scratch in a 3d modeller - and then randomly mirror/scale them for a few more variants.. But I'd rather have a free, linkable tree mesh generator. Possible solutions: Port proctree.js to c++ and deal with the open source license (doesn't seem to be gpl, so could be doable; the author may also be willing to co-operate to make the license even more free). Roll my own based on L-systems. Don't bother, just use offline generated trees. Use some other method I haven't found yet.

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  • Why create a Huffman tree per character instead of a Node?

    - by Omega
    For a school assignment we're supposed to make a Java implementation of a compressor/decompresser using Huffman's algorithm. I've been reading a bit about it, specially this C++ tutorial: http://www.cprogramming.com/tutorial/computersciencetheory/huffman.html In my program, I've been thinking about having Nodes that have the following properties: Total Frequency Character (if a leaf) Right child (if any) Left child (if any) Parent (if any) So when building the Huffman tree, it is just a matter of linking a node to others, etc. However, I'm a bit confused with the following quote (emphasis mine): First, every letter starts off as part of its own tree and the trees are ordered by the frequency of the letters in the original string. Then the two least-frequently used letters are combined into a single tree, and the frequency of that tree is set to be the combined frequency of the two trees that it links together. My question: why should I create a tree per letter, instead of just a node per letter and then do the linking later? I have not begun coding, I'm just studying the algorithm first, so I guess I'm missing an important detail. What is it?

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  • Boolean checks with a single quadtree, or multiple quadtrees?

    - by Djentleman
    I'm currently developing a 2D sidescrolling shooter game for PC (think metroidvania but with a lot more happening at once). Using XNA. I'm utilising quadtrees for my spatial partitioning system. All objects will be encompassed by standard bounding geometry (box or sphere) with possible pixel-perfect collision detection implemented after geometry collision (depends on how optimised I can get it). These are my collision scenarios, with < representing object overlap (multiplayer co-op is the reason for the player<player scenario): Collision scenarios (true = collision occurs): Player <> Player = false Enemy <> Enemy = false Player <> Enemy = true PlayerBullet <> Enemy = true PlayerBullet <> Player = false PlayerBullet <> EnemyBullet = true PlayerBullet <> PlayerBullet = false EnemyBullet <> Player = true EnemyBullet <> Enemy = false EnemyBullet <> EnemyBullet = false Player <> Environment = true Enemy <> Environment = true PlayerBullet <> Environment = true EnemyBullet <> Environment = true Going off this information and the fact that were will likely be several hundred objects rendering on-screen at any given time, my question is as follows: Which method is likely to be the most efficient/optimised and why: Using a single quadtree with boolean checks for collision between the different types of objects. Using three quadtrees at once (player, enemy, environment), only testing the player and enemy trees against each other while testing both the player and enemy trees against the environment tree.

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  • Central renderer for a given scene

    - by Loggie
    When creating a central rendering system for all game objects in a given scene I am trying to work out the best way to go about passing the scene to the render system to be rendered. If I have a scene managed by an arbitrary structure, i.e., an octree, bsp trees, quad-tree, kd tree, etc. What is the best way to pass this to the render system? The obvious problem is that if simply given the root node of the structure, the render system would require an intrinsic knowledge of the structure in order to traverse the structure. My solution to this is to clip all objects outside the frustum in the scene manager and then create a list of the objects which are left and pass this simple list to the render system, be it an array, a vector, a linked list, etc. (This would be a structure required by the render system as a means to know which objects should be rendered). The list would of course attempt to minimise OpenGL state changes by grouping objects that require the same rendering operations to be performed on them. I have been thinking a lot about this and started searching various terms on here and followed any additional information/links but I have not really found a definitive answer. The case may be that there is no definitive answer but I would appreciate some advice and tips. My question is, is this a reasonable solution to the problem? Are there any improvements that I could make? Are there any caveats I should know about? Side question: Am I right in assuming that octrees, bsp trees, etc are all forms of BVH?

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  • How does the new google maps make buildings and cityscapes 3D?

    - by Aerovistae
    Anyone who's seen the new Google maps has no doubt taken note of the incredible amount of three-dimensional detail in select American cities such as Boston, New York, Chicago, and San Francisco. They've even modeled the trees, bridges and some of the boats in the harbor! Minor architectural details are present. It's crazy. Looking at it up close, I've found there's a rectangular area around each of those cities, and anything within them is 3Dified, but it cuts off hard and fast at the edge, even if it's in the middle of a building. The edge of the rectangle is where the 3D stops. This leads me to think it's being done algorithmically (which would make sense, given the scale of the project, how many trees and buildings and details there are), and yet I can't imagine how that's possible. How could an algorithm model all these things without extensive data on their shapes and contours? How could it model the individual wires of a bridge, or the statues in a park? It must be done by hand, and yet how could it be for so much detail! Does anyone have any insight on this?

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  • Why does Gnumake from parent directory behave differently?

    - by WilliamKF
    I am stumped as to why when I do a gnumake from the parent directory it behaves incorrectly, whereas, if I cd to the subdirectory and do gnumake it works correctly. In the parent makefile, I have a rule like this: .PHONY: zlib-1.2.5 zlib-1.2.5: @ echo Issuing $(MAKE) in $@ ... pushd zlib-1.2.5; make; popd Which gives different result than doing the same from the toplevel pushd zlib-1.2.5; make; popd There is a something from the parent makefile that is making its way into the subdirectory makefile and causing it to behave incorrectly, but I don't know how to find it. The symptom I see is that the subdirectory config generated makefile rule for zlib misses the dependencies and I get this result going straight to the ar without generating the .o(s) first: cd ~/src; make zlib-1.2.5 CPPFLAGS_AUTO = < > Issuing make in zlib-1.2.5 ... pushd zlib-1.2.5; make; popd ~/src/zlib-1.2.5 ~/src make[1]: Entering directory `/disk2/user/src/zlib-1.2.5' ar rc libz.a adler32.o compress.o crc32.o deflate.o gzclose.o gzlib.o gzread.o gzwrite.o infback.o inffast.o inflate.o inftrees.o trees.o uncompr.o zutil.o ar: adler32.o: No such file or directory make[1]: *** [libz.a] Error 1 gcc -shared -Wl,-soname,libz.so.1,--version-script,zlib.map -O3 -fPIC -D_LARGEFILE64_SOURCE=1 -o libz.so.1.2.5 adler32.lo compress.lo crc32.lo deflate.lo gzclose.lo gzlib.lo gzread.lo gzwrite.lo infback.lo inffast.lo inflate.lo inftrees.lo trees.lo uncompr.lo zutil.lo -lc -L. libz.a gcc: adler32.lo: No such file or directory gcc: compress.lo: No such file or directory gcc: crc32.lo: No such file or directory gcc: deflate.lo: No such file or directory [...] make[1]: *** [libz.so.1.2.5] Error 1 make[1]: Target `all' not remade because of errors. make[1]: Leaving directory `/disk2/user/src/zlib-1.2.5' ~/src Versus from the zlib directory where it works correctly: cd ~/src/zlib-1.2.5; make gcc -O3 -D_LARGEFILE64_SOURCE=1 -c -o example.o example.c gcc -O3 -D_LARGEFILE64_SOURCE=1 -c -o adler32.o adler32.c gcc -O3 -D_LARGEFILE64_SOURCE=1 -c -o compress.o compress.c gcc -O3 -D_LARGEFILE64_SOURCE=1 -c -o crc32.o crc32.c [...] gcc -O3 -D_LARGEFILE64_SOURCE=1 -c -o zutil.o zutil.c ar rc libz.a adler32.o compress.o crc32.o deflate.o gzclose.o gzlib.o gzread.o gzwrite.o infback.o inffast.o inflate.o inftrees.o trees.o uncompr.o zutil.o (ranlib libz.a || true) >/dev/null 2>&1 gcc -O3 -D_LARGEFILE64_SOURCE=1 -o example example.o -L. libz.a gcc -O3 -D_LARGEFILE64_SOURCE=1 -c -o minigzip.o minigzip.c gcc -O3 -D_LARGEFILE64_SOURCE=1 -o minigzip minigzip.o -L. libz.a mkdir objs 2>/dev/null || test -d objs gcc -O3 -fPIC -D_LARGEFILE64_SOURCE=1 -DPIC -c -o objs/adler32.o adler32.c mv objs/adler32.o adler32.lo mkdir objs 2>/dev/null || test -d objs gcc -O3 -fPIC -D_LARGEFILE64_SOURCE=1 -DPIC -c -o objs/compress.o compress.c mv objs/compress.o compress.lo [...] mkdir objs 2>/dev/null || test -d objs gcc -O3 -fPIC -D_LARGEFILE64_SOURCE=1 -DPIC -c -o objs/zutil.o zutil.c mv objs/zutil.o zutil.lo gcc -shared -Wl,-soname,libz.so.1,--version-script,zlib.map -O3 -fPIC -D_LARGEFILE64_SOURCE=1 -o libz.so.1.2.5 adler32.lo compress.lo crc32.lo deflate.lo gzclose.lo gzlib.lo gzread.lo gzwrite.lo infback.lo inffast.lo inflate.lo inftrees.lo trees.lo uncompr.lo zutil.lo -lc -L. libz.a rm -f libz.so libz.so.1 ln -s libz.so.1.2.5 libz.so ln -s libz.so.1.2.5 libz.so.1 rmdir objs gcc -O3 -D_LARGEFILE64_SOURCE=1 -o examplesh example.o -L. libz.so.1.2.5 gcc -O3 -D_LARGEFILE64_SOURCE=1 -o minigzipsh minigzip.o -L. libz.so.1.2.5 gcc -O3 -D_LARGEFILE64_SOURCE=1 -o example64 example64.o -L. libz.a gcc -O3 -D_LARGEFILE64_SOURCE=1 -o minigzip64 minigzip64.o -L. libz.a

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  • Why does my performance slow to a crawl I move methods into a base class?

    - by Juliet
    I'm writing different implementations of immutable binary trees in C#, and I wanted my trees to inherit some common methods from a base class. However, I find. I have lots of binary tree data structures to implement, and I wanted move some common methods into in a base binary tree class. Unfortunately, classes which derive from the base class are abysmally slow. Non-derived classes perform adequately. Here are two nearly identical implementations of an AVL tree to demonstrate: AvlTree: http://pastebin.com/V4WWUAyT DerivedAvlTree: http://pastebin.com/PussQDmN The two trees have the exact same code, but I've moved the DerivedAvlTree.Insert method in base class. Here's a test app: using System; using System.Collections.Generic; using System.Diagnostics; using System.Linq; using Juliet.Collections.Immutable; namespace ConsoleApplication1 { class Program { const int VALUE_COUNT = 5000; static void Main(string[] args) { var avlTreeTimes = TimeIt(TestAvlTree); var derivedAvlTreeTimes = TimeIt(TestDerivedAvlTree); Console.WriteLine("avlTreeTimes: {0}, derivedAvlTreeTimes: {1}", avlTreeTimes, derivedAvlTreeTimes); } static double TimeIt(Func<int, int> f) { var seeds = new int[] { 314159265, 271828183, 231406926, 141421356, 161803399, 266514414, 15485867, 122949829, 198491329, 42 }; var times = new List<double>(); foreach (int seed in seeds) { var sw = Stopwatch.StartNew(); f(seed); sw.Stop(); times.Add(sw.Elapsed.TotalMilliseconds); } // throwing away top and bottom results times.Sort(); times.RemoveAt(0); times.RemoveAt(times.Count - 1); return times.Average(); } static int TestAvlTree(int seed) { var rnd = new System.Random(seed); var avlTree = AvlTree<double>.Create((x, y) => x.CompareTo(y)); for (int i = 0; i < VALUE_COUNT; i++) { avlTree = avlTree.Insert(rnd.NextDouble()); } return avlTree.Count; } static int TestDerivedAvlTree(int seed) { var rnd = new System.Random(seed); var avlTree2 = DerivedAvlTree<double>.Create((x, y) => x.CompareTo(y)); for (int i = 0; i < VALUE_COUNT; i++) { avlTree2 = avlTree2.Insert(rnd.NextDouble()); } return avlTree2.Count; } } } AvlTree: inserts 5000 items in 121 ms DerivedAvlTree: inserts 5000 items in 2182 ms My profiler indicates that the program spends an inordinate amount of time in BaseBinaryTree.Insert. Anyone whose interested can see the EQATEC log file I've created with the code above (you'll need EQATEC profiler to make sense of file). I really want to use a common base class for all of my binary trees, but I can't do that if performance will suffer. What causes my DerivedAvlTree to perform so badly, and what can I do to fix it?

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  • Why is this class re-initialized every time?

    - by pinnacler
    I have 4 files and the code 'works' as expected. I try to clean everything up, place code into functions, etc... and everything looks fine... and it doesn't work. Can somebody please explain why MatLab is so quirky... or am I just stupid? Normally, I type terminator = simulation(100,20,0,0,0,1); terminator.animate(); and it should produce a map of trees with the terminator walking around in a forest. Everything rotates to his perspective. When I break it into functions... everything ceases to work. I really only changed a few lines of code, shown in comments. Code that works: classdef simulation properties landmarks robot end methods function obj = simulation(mapSize, trees, x,y,heading,velocity) obj.landmarks = landmarks(mapSize, trees); obj.robot = robot(x,y,heading,velocity); end function animate(obj) %Setup Plots fig=figure; xlabel('meters'), ylabel('meters') set(fig, 'name', 'Phil''s AWESOME 80''s Robot Simulator') xymax = obj.landmarks.mapSize*3; xymin = -(obj.landmarks.mapSize*3); l=scatter([0],[0],'bo'); axis([xymin xymax xymin xymax]); obj.landmarks.apparentPositions %Simulation Loop THIS WAS ORGANIZED for n = 1:720, %Calculate and Set Heading/Location obj.robot.headingChange = navigate(n); %Update Position obj.robot.heading = obj.robot.heading + obj.robot.headingChange; obj.landmarks.heading = obj.robot.heading; y = cosd(obj.robot.heading); x = sind(obj.robot.heading); obj.robot.x = obj.robot.x + (x*obj.robot.velocity); obj.robot.y = obj.robot.y + (y*obj.robot.velocity); obj.landmarks.x = obj.robot.x; obj.landmarks.y = obj.robot.y; %Animate set(l,'XData',obj.landmarks.apparentPositions(:,1),'YData',obj.landmarks.apparentPositions(:,2)); rectangle('Position',[-2,-2,4,4]); drawnow end end end end ----------- classdef landmarks properties fixedPositions %# positions in a fixed coordinate system. [ x, y ] mapSize = 10; %Map Size. Value is side of square x=0; y=0; heading=0; headingChange=0; end properties (Dependent) apparentPositions end methods function obj = landmarks(mapSize, numberOfTrees) obj.mapSize = mapSize; obj.fixedPositions = obj.mapSize * rand([numberOfTrees, 2]) .* sign(rand([numberOfTrees, 2]) - 0.5); end function apparent = get.apparentPositions(obj) %-STILL ROTATES AROUND ORIGINAL ORIGIN currentPosition = [obj.x ; obj.y]; apparent = bsxfun(@minus,(obj.fixedPositions)',currentPosition)'; apparent = ([cosd(obj.heading) -sind(obj.heading) ; sind(obj.heading) cosd(obj.heading)] * (apparent)')'; end end end ---------- classdef robot properties x y heading velocity headingChange end methods function obj = robot(x,y,heading,velocity) obj.x = x; obj.y = y; obj.heading = heading; obj.velocity = velocity; end end end ---------- function headingChange = navigate(n) %steeringChange = 5 * rand(1) * sign(rand(1) - 0.5); Most chaotic shit %Draw an S if n <270 headingChange=1; elseif n<540 headingChange=-1; elseif n<720 headingChange=1; else headingChange=1; end end Code that does not work... classdef simulation properties landmarks robot end methods function obj = simulation(mapSize, trees, x,y,heading,velocity) obj.landmarks = landmarks(mapSize, trees); obj.robot = robot(x,y,heading,velocity); end function animate(obj) %Setup Plots fig=figure; xlabel('meters'), ylabel('meters') set(fig, 'name', 'Phil''s AWESOME 80''s Robot Simulator') xymax = obj.landmarks.mapSize*3; xymin = -(obj.landmarks.mapSize*3); l=scatter([0],[0],'bo'); axis([xymin xymax xymin xymax]); obj.landmarks.apparentPositions %Simulation Loop for n = 1:720, %Calculate and Set Heading/Location %Update Position headingChange = navigate(n); obj.robot.updatePosition(headingChange); obj.landmarks.updatePerspective(obj.robot.heading, obj.robot.x, obj.robot.y); %Animate set(l,'XData',obj.landmarks.apparentPositions(:,1),'YData',obj.landmarks.apparentPositions(:,2)); rectangle('Position',[-2,-2,4,4]); drawnow end end end end ----------------- classdef landmarks properties fixedPositions; %# positions in a fixed coordinate system. [ x, y ] mapSize; %Map Size. Value is side of square x; y; heading; headingChange; end properties (Dependent) apparentPositions end methods function obj = createLandmarks(mapSize, numberOfTrees) obj.mapSize = mapSize; obj.fixedPositions = obj.mapSize * rand([numberOfTrees, 2]) .* sign(rand([numberOfTrees, 2]) - 0.5); end function apparent = get.apparentPositions(obj) %-STILL ROTATES AROUND ORIGINAL ORIGIN currentPosition = [obj.x ; obj.y]; apparent = bsxfun(@minus,(obj.fixedPositions)',currentPosition)'; apparent = ([cosd(obj.heading) -sind(obj.heading) ; sind(obj.heading) cosd(obj.heading)] * (apparent)')'; end function updatePerspective(obj,tempHeading,tempX,tempY) obj.heading = tempHeading; obj.x = tempX; obj.y = tempY; end end end ----------------- classdef robot properties x y heading velocity end methods function obj = robot(x,y,heading,velocity) obj.x = x; obj.y = y; obj.heading = heading; obj.velocity = velocity; end function updatePosition(obj,headingChange) obj.heading = obj.heading + headingChange; tempy = cosd(obj.heading); tempx = sind(obj.heading); obj.x = obj.x + (tempx*obj.velocity); obj.y = obj.y + (tempy*obj.velocity); end end end The navigate function is the same... I would appreciate any help as to why things aren't working. All I did was take the code from the first section from under comment: %Simulation Loop THIS WAS ORGANIZED and break it into 2 functions. One in robot and one in landmarks. Is a new instance created every time because it's constantly printing the same heading for this line int he robot class obj.heading = obj.heading + headingChange;

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  • How to speed up calculation of length of longest common substring?

    - by eSKay
    I have two very large strings and I am trying to find out their Longest Common Substring. One way is using suffix trees (supposed to have a very good complexity, though a complex implementation), and the another is the dynamic programming method (both are mentioned on the Wikipedia page linked above). Using dynamic programming The problem is that the dynamic programming method has a huge running time (complexity is O(n*m), where n and m are lengths of the two strings). What I want to know (before jumping to implement suffix trees): Is it possible to speed up the algorithm if I only want to know the length of the common substring (and not the common substring itself)?

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  • Storing hierarchical (parent/child) data in Python/Django: MPTT alternative?

    - by Parand
    I'm looking for a good way to store and use hierarchical (parent/child) data in Django. I've been using django-mptt, but it seems entirely incompatible with my brain - I end up with non-obvious bugs in non-obvious places, mostly when moving things around in the tree: I end up with inconsistent state, where a node and its parent will disagree on their relationship. My needs are simple: Given a node: find its root find its ancestors find its descendants With a tree: easily move nodes (ie. change parent) My trees will be smallish (at most 10k nodes over 20 levels, generally much much smaller, say 10 nodes with 1 or 2 levels). I have to think there has to be an easier way to do trees in python/django. Are there other approaches that do a better job of maintaining consistency?

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  • Binary Tree operator overloading and recursion

    - by furious.snail
    I was wondering how to overload the == operator for a binary tree to compare if two trees have identical data at same nodes. So far this is what I have: bool TreeType::operator==(const TreeType& otherTree) const { if((root == NULL) && (otherTree.root == NULL)) return true; //two null trees are equal else if((root != NULL) && (otherTree.root != NULL)) { return((root-info == otherTree.root-info) && //this part doesn't actually do anything recursively... //(root-left == otherTree.root-left) && //(root-right == otherTree.root-right)) } else return false; //one tree is null the other is not } I have a similar function that takes two TreeNode pointers as parameters but I've been stuck on how to convert it to this function.

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  • Is Lightweight Code Generation (LCG) dead?

    - by Greg Beech
    In the .NET 2.0-3.5 frameworks, LCG (aka the DynamicMethod class) was a decent way to emit lightweight methods at runtime when no class structure was needed to support them. In .NET 4.0, expression trees now support statements and blocks, and as such appear to provide sufficient functionality to build just about any functionality you could require from such a method, and can be constructed in a much easier and safer way than directly emitting CIL op-codes. (This statement is borne from today's experimentation of converting some of our most complex LCG code to use expression tree building and compilation instead.) So is there any reason why one would use LCG in any new code? Is there anything it can do that expression trees cannot? Or is it now a 'dead' piece of functionality?

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  • Why not speed up testing by using function dependency graph?

    - by Maltrap
    It seems logical to me that if you have a dependency graph of your source code (tree showing call stack of all functions in your code base) you should be able to save a tremendous amount of time doing functional and integration tests after each release. Essentially you will be able to tell the testers exactly what functionality to test as the rest of the features remain unchanged from a source code point of view. If for instance you change a spelling mistake in once piece of the code, there is no reason to run through your whole test script again "just in case" you introduced a critical bug. My question, why are dependency trees not used in software engineering and if you use them, how do you maintain them? What tools are available that generate these trees for C# .NET, C++ and C source code?

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  • Hierarchy inheritance

    - by reito
    I had faced the problem. In my C++ hierarchy tree I have two branches for entities of difference nature, but same behavior - same interface. I created such hierarchy trees (first in image below). And now I want to work with Item or Base classes independetly of their nature (first or second). Then I create one abstract branch for this use. My mind build (second in image below). But it not working. Working scheme seems (third in image below). It's bad logic, I think... Do anybody have some ideas about such hierarchy inheritance? How make it more logical? More simple for understanding? Image Sorry for my english - russian internet didn't help:) Update: You ask me to be more explicit, and I will be. In my project (plugins for Adobe Framemaker) I need to work with dialogs and GUI controls. In some places I working with WinAPI controls, and some other places with FDK (internal Framemaker) controls, but I want to work throw same interface. I can't use one base class and inherite others from it, because all needed controls - is a hierarchy tree (not one class). So I have one hierarchy tree for WinAPI controls, one for FDK and one abstract tree to use anyone control. For example, there is an Edit control (WinEdit and FdkEdit realization), a Button control (WinButton and FdkButton realization) and base entity - Control (WinControl and FdkControl realization). For now I can link my classes in realization trees (Win and Fdk) with inheritence between each of them (WinControl is base class for WinButton and WinEdit; FdkControl is base class for FdkButton and FdkEdit). And I can link to abstract classes (Control is base class for WinControl and FdkControl; Edit is base class for WinEdit and FdkEdit; Button is base class for WinButton and FdkButton). But I can't link my abstract tree - compiler swears. In fact I have two hierarchy trees, that I want to inherite from another one. Update: I have done this quest! :) I used the virtual inheritence and get such scheme (http://img12.imageshack.us/img12/7782/99614779.png). Abstract tree has only absolute abstract methods. All inheritence in abstract tree are virtual. Link from realization tree to abstract are virtual. On image shown only one realization tree for simplicity. Thanks for help!

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  • I'm having a problem identifying a floating point exception.

    - by Peter Stewart
    I'm using c++ in visual studio express to generate random expression trees for use in a genetic algorithm type of program. Because they are random, the trees often generate (I'll call them exceptions, I'm not sure what they are) Thanks to a suggestion by George, I turned the mask _MCW_EM on so that hardware interrupts are turned off. (the default) So, the program runs uninterrupted, but some of the values returned are: -1.#INF, -1.#NAN, -1.#INV. I don't know how to identify these so that I can throw an exeption: if ( variable == -1.#INF) ?? DigitalRoss in this post seemed to have the solution, but as I understood it I couldn't make it work. I've been looking all over the place for this simple bit of code, that I assumed would be used all the time, but have had no luck. thanks

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  • Filter Empty Directories in Package Explorer View

    - by Matt
    Is there a way in eclipse to filter/hide empty directory trees in the package explorer view? This is different than filtering directories like '.svn' or maven's target, or filtering empty packages. It's more trying to clean up empty directories trees that show up as a result of filter rules. Context- We have a generic project in our workspace that uses filters to ignore non text based files(mp3s, jpgs, etc). It allows us to quickly edit our files in eclipse. The problem is because of the filters there are a lot of empty folders present. If eclipse can ignore any empty folders due to filters it would make the project cleaner.

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  • Gradient boosting predictions in low-latency production environments?

    - by lockedoff
    Can anyone recommend a strategy for making predictions using a gradient boosting model in the <10-15ms range (the faster the better)? I have been using R's gbm package, but the first prediction takes ~50ms (subsequent vectorized predictions average to 1ms, so there appears to be overhead, perhaps in the call to the C++ library). As a guideline, there will be ~10-50 inputs and ~50-500 trees. The task is classification and I need access to predicted probabilities. I know there are a lot of libraries out there, but I've had little luck finding information even on rough prediction times for them. The training will happen offline, so only predictions need to be fast -- also, predictions may come from a piece of code / library that is completely separate from whatever does the training (as long as there is a common format for representing the trees).

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  • How would you find the height of objects given an image?

    - by Ram Bhat
    Heyguys.. This isn't exactly a programming question exactly. I just want to know what your approach would be to a common problem in Digital image processing. Lets say you have an image of a a few trees in say jpg format. How would you go about finding the heights of each of these trees. The photo is the only input you have. I want to know the approaches you have not code. So it doesnt matter if your answers are vague, or non DIP-ish.

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  • Rendering in WebKit

    Rendering in WebKit A deep dive into the guts of webkit. Eric Seidel explains the process from loading the resources, building the DOM tree, and the various trees involved in rendering. From: GoogleDevelopers Views: 4525 26 ratings Time: 34:45 More in Science & Technology

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  • Interpolating height on opengl quad

    - by ThePlague
    Okay I've got a quad, see picture. And want to find the height at any point in the quad, is there a way to do this accurately as bilinear interpolation doesn't work in this case. As you can see the trees trunk is well beneath the terrain and should be at the same height as the trunks around it. I know the altitude of the vertices marked by a red circle and the centre red circle is roughly where the base should be, I've also crudely added a line as that surface is not flat.

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  • Graph Isomorphism > What kind of Graph is this?

    - by oodavid
    Essentially, this is a variation of Comparing Two Tree Structures, however I do not have "trees", but rather another type of graph. I need to know what kind of Graph I have in order to figure out if there's a Graph Isomorphism Special Case... As you can see, they are: Not Directed Not A Tree Cyclic Max 4 connections But I still don't know the correct terminology, nor the which Isomorphism algorithm to pursue, guidance appreciated.

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  • Game Guide to Purchasing Items in Fish Isle

    There are many things you can purchase in Fish Isle like decorations, buildings, trees, and animals. This Fish Isle guide will show you how to purchase items, but it will also show you how to do thin... [Author: Jake Clark - Computers and Internet - April 17, 2010]

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  • Shadow Mapping and Transparent Quads

    - by CiscoIPPhone
    Shadow mapping uses the depth buffer to calculate where shadows should be drawn. My problem is that I'd like some semi transparent textured quads to cast shadows - for example billboarded trees. As the depth value will be set across all of the quad and not just the visible parts it will cast a quad shadow, which is not what I want. How can I make my transparent quads cast correct shadows using shadow mapping?

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  • Finding the lowest average Hamming distance when the order of the strings matter

    - by user1049697
    I have a sequence of binary strings that I want to find a match for among a set of longer sequences of binary strings. A match means that the compared sequence gives the lowest average Hamming distance when all elements in the shorter sequence have been matched against a sequence in one of the longer sets. Let me try to explain with an example. I have a set of video frames that have been hashed using a perceptual hashing algorithm so that the video frames that look the same has roughly the same hash. I want to match a short video clip against a set of longer videos, to see if the clip is contained in one of these. This means that I need to find out where the sequence of the hashed frames in the short video has the lowest average Hamming distance when compared with the long videos. The short video is the sub strings Sub1, Sub2 and Sub3, and I want to match them against the hashes of the long videos in Src. The clue here is that the strings need to match in the specific order that they are given in, e.g. that Sub1 always has to match the element before Sub2, and Sub2 always has to match the element before Sub3. In this example it would map thusly: Sub1-Src3, Sub2-Src4 and Sub3-Src5. So the question is this: is there an algorithm for finding the lowest average Hamming distance when the order of the elements compared matter? The naïve approach to compare the substring sequence to every source string won't cut it of course, so I need something that preferably can match a (much) shorter sub string to a set of million of elements. I have looked at MVP-trees, BK-trees and similar, but everything seems to only take into account one binary string and not a sequence of them. Sub1: 100111011111011101 Sub2: 110111000010010100 Sub3: 111111010110101101 Src1: 001011010001010110 Src2: 010111101000111001 Src3: 101111001110011101 Src4: 010111100011010101 Src5: 001111010110111101 Src6: 101011111111010101 I have added a calculation of the examples below. (The Hamming distances aren't correct, but it doesn't matter) **Run 1.** dist(Sub1, Src1) = 8 dist(Sub2, Src2) = 10 dist(Sub3, Src3) = 12 average = 10 **Run 2.** dist(Sub1, Src2) = 10 dist(Sub2, Src3) = 12 dist(Sub3, Src4) = 10 average = 11 **Run 3.** dist(Sub1, Src3) = 7 dist(Sub2, Src4) = 6 dist(Sub3, Src5) = 10 average = 8 **Run 4.** dist(Sub1, Src3) = 10 dist(Sub2, Src4) = 4 dist(Sub3, Src5) = 2 average = 5 So the winner here is sequence 4 with an average distance of 5.

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