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  • Find location using only distance and bearing?

    - by pinnacler
    Triangulation works by checking your angle to three KNOWN targets. "I know the that's the Lighthouse of Alexandria, it's located here (X,Y) on a map, and it's to my right at 90 degrees." Repeat 2 more times for different targets and angles. Trilateration works by checking your distance from three KNOWN targets. "I know the that's the Lighthouse of Alexandria, it's located here (X,Y) on a map, and I'm 100 meters away from that." Repeat 2 more times for different targets and ranges. But both of those methods rely on knowing WHAT you're looking at. Say you're in a forest and you can't differentiate between trees, but you know where key trees are. These trees have been hand picked as "landmarks." You have a robot moving through that forest slowly. Do you know of any ways to determine location based solely off of angle and range, exploiting geometry between landmarks? Note, you will see other trees as well, so you won't know which trees are key trees. Ignore the fact that a target may be occluded. Our pre-algorithm takes care of that. 1) If this exists, what's it called? I can't find anything. 2) What do you think the odds are of having two identical location 'hits?' I imagine it's fairly rare. 3) If there are two identical location 'hits,' how can I determine my exact location after I move the robot next. (I assume the chances of having 2 occurrences of EXACT angles in a row, after I reposition the robot, would be statistically impossible, barring a forest growing in rows like corn). Would I just calculate the position again and hope for the best? Or would I somehow incorporate my previous position estimate into my next guess? If this exists, I'd like to read about it, and if not, develop it as a side project. I just don't have time to reinvent the wheel right now, nor have the time to implement this from scratch. So if it doesn't exist, I'll have to figure out another way to localize the robot since that's not the aim of this research, if it does, lets hope it's semi-easy.

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  • Have you been in cases where TDD increased development time?

    - by BillyONeal
    Hello everyone :) I was reading http://stackoverflow.com/questions/2512504/tdd-how-to-start-really-thinking-tdd and I noticed many of the answers indicate that tests + application should take less time than just writing the application. In my experience, this is not true. My problem though is that some 90% of the code I write has a TON of operating system calls. The time spent to actually mock these up takes much longer than just writing the code in the first place. Sometimes 4 or 5 times as long to write the test as to write the actual code. I'm curious if there are other developers in this kind of a scenario.

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  • Algorithm possible amounts (over)paid for a specific price, based on denominations

    - by Wrikken
    In a current project, people can order goods delivered to their door and choose 'pay on delivery' as a payment option. To make sure the delivery guy has enough change customers are asked to input the amount they will pay (e.g. delivery is 48,13, they will pay with 60,- (3*20,-)). Now, if it were up to me I'd make it a free field, but apparantly higher-ups have decided is should be a selection based on available denominations, without giving amounts that would result in a set of denominations which could be smaller. Example: denominations = [1,2,5,10,20,50] price = 78.12 possibilities: 79 (multitude of options), 80 (e.g. 4*20) 90 (e.g. 50+2*20) 100 (2*50) It's international, so the denominations could change, and the algorithm should be based on that list. The closest I have come which seems to work is this: for all denominations in reversed order (large=>small) add ceil(price/denomination) * denomination to possibles baseprice = floor(price/denomination) * denomination; for all smaller denominations as subdenomination in reversed order add baseprice + (ceil((price - baseprice) / subdenomination) * subdenomination) to possibles end for end for remove doubles sort Is seems to work, but this has emerged after wildly trying all kinds of compact algorithms, and I cannot defend why it works, which could lead to some edge-case / new countries getting wrong options, and it does generate some serious amounts of doubles. As this is probably not a new problem, and Google et al. could not provide me with an answer save for loads of pages calculating how to make exact change, I thought I'd ask SO: have you solved this problem before? Which algorithm? Any proof it will always work?

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  • Easiest way to find the correct kademlia bucket

    - by Martin
    In the Kademlia protocol node IDs are 160 bit numbers. Nodes are stored in buckets, bucket 0 stores all the nodes which have the same ID as this node except for the very last bit, bucket 1 stores all the nodes which have the same ID as this node except for the last 2 bits, and so on for all 160 buckets. What's the fastest way to find which bucket I should put a new node into? I have my buckets simply stored in an array, and need a method like so: Bucket[] buckets; //array with 160 items public Bucket GetBucket(Int160 myId, Int160 otherId) { //some stuff goes here } The obvious approach is to work down from the most significant bit, comparing bit by bit until I find a difference, I'm hoping there is a better approach based around clever bit twiddling. Practical note: My Int160 is stored in a byte array with 20 items, solutions which work well with that kind of structure will be preferred.

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  • Non-Relational DBMS Design Resources

    - by Matt Luongo
    Hey guys, As a personal project, I'm looking to build a rudimentary DBMS. I've read the relevant sections in Elmasri & Navathe (5ed), but could use a more focused text. The rub is that I want to play with novel non-relational data models. While a lot of E&N was great- indexing implementation details in particular- the more advanced DBMS implementation was only targeted to a relational model. I could also use something a bit more practical and detail-oriented, with real-world recommendations. I'd like to defer staring at DBMS source for a while if I can. Any ideas?

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  • Zoom image to pixel level

    - by zaf
    For an art project, one of the things I'll be doing is zooming in on an image to a particular pixel. I've been rubbing my chin and would love some advice on how to proceed. Here are the input parameters: Screen: sw - screen width sh - screen height Image: iw - image width ih - image height Pixel: px - x position of pixel in image py - y position of pixel in image Zoom: zf - zoom factor (0.0 to 1.0) Background colour: bc - background colour to use when screen and image aspect ratios are different Outputs: The zoomed image (no anti-aliasing) The screen position/dimensions of the pixel we are zooming to. When zf is 0 the image must fit the screen with correct aspect ratio. When zf is 1 the selected pixel fits the screen with correct aspect ratio. One idea I had was to use something like povray and move the camera towards a big image texture or some library (e.g. pygame) to do the zooming. Anyone think of something more clever with simple pseudo code? To keep it more simple you can make the image and screen have the same aspect ratio. I can live with that. I'll update with more info as its required.

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  • How do you get your self focused with so many distractions around? (which you can't or don't want to

    - by Teja Kantamneni
    This question is definitely for a programmer and is centric towards a programmer. But if somebody feels it should not belong here I would not mind deleting it. I don't think this need to go as a WIKI, but if feel like it is a WIKI, I can do that too. The Question is: As a programmer you have to keep yourself up to date with the latest technologies and for that every programmer will generally follow some technology blogs and some social networking sites like (twitter, FB, SO, DZONE etc), how to keep your self focused on the things and still want to follow the technology trends? No Subjective or argumentative answers, Just want to know what practices other fellow programmers do for this...

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  • CodeGolf: Find the Unique Paths

    - by st0le
    Here's a pretty simple idea, in this pastebin I've posted some pair of numbers. These represent Nodes of a directed graph. The input to stdin will be of the form, (they'll be numbers, i'll be using an example here) c d q r a b b c d e p q so x y means x is connected to y (not viceversa) There are 2 paths in that example. a->b->c->d->e and p->q->r. You need to print all the unique paths from that graph The output should be of the format a->b->c->d->e p->q->r Notes You can assume the numbers are chosen such that one path doesn't intersect the other (one node belongs to one path) The pairs are in random order. They are more than 1 paths, they can be of different lengths. All numbers are less than 1000. If you need more details, please leave a comment. I'll amend as required. Shameless-Plug For those who enjoy Codegolf, please Commit at Area51 for its very own site:) (for those who don't enjoy it, please support it as well, so we'll stay out of your way...)

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  • Extract all text from a HTML page without losing context

    - by grmbl
    For a translation program I am trying to get a 95% accurate text from a HTML file in order to translate the sentences and links. For example: <div><a href="stack">Overflow</a> <span>Texts <b>go</b> here</span></div> Should give me 2 results to translate: Overflow Texts <b>go</b> here Any suggestions or commercial packages available for this problem?

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  • Random access gzip stream

    - by jkff
    I'd like to be able to do random access into a gzipped file. I can afford to do some preprocessing on it (say, build some kind of index), provided that the result of the preprocessing is much smaller than the file itself. Any advice? My thoughts were: Hack on an existing gzip implementation and serialize its decompressor state every, say, 1 megabyte of compressed data. Then to do random access, deserialize the decompressor state and read from the megabyte boundary. This seems hard, especially since I'm working with Java and I couldn't find a pure-java gzip implementation :( Re-compress the file in chunks of 1Mb and do same as above. This has the disadvantage of doubling the required disk space. Write a simple parser of the gzip format that doesn't do any decompressing and only detects and indexes block boundaries (if there even are any blocks: I haven't yet read the gzip format description)

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  • Where do you start your design - code, UI or workflow?

    - by Mmarquee
    Hi I was discussing this at work, and was wondering where people start their designs? We tend to start with designing code to solve the problem presented to us, but that is probably all of us are (or were) programmers. I was wondering where other people and organisations start their design. Do they start with solving the problem as a coding problem, sit down and design what UI to use, or map out the data or workflow? Thanks

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  • What is the best euphemism for a non-developer?

    - by Edward Tanguay
    I'm writing a description for a piece of software that targets the user who is "not technically minded", i.e. a person who uses "browser/office/email" and has a low tolerance for anything technical, he just "wants it to work" without being involved in any of the technical details. What is the best non-disparaging term you have seen to describe this kind of user? non-technical user low-tech user office user normal user technically challenged user non-developer computer joe Surely there is some official, politically-correct retronym for this kind of user that the press and software marketing use.

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  • java partial classes

    - by Dewfy
    Hello colleagues, Small preamble. I was good java developer on 1.4 jdk. After it I have switched to another platforms, but here I come with problem so question is strongly about jdk 1.6 (or higher :) ). I have 3 coupled class, the nature of coupling concerned with native methods. Bellow is example of this 3 class public interface A { public void method(); } final class AOperations { static native method(. . .); } public class AImpl implements A { @Override public void method(){ AOperations.method( . . . ); } } So there is interface A, that is implemented in native way by AOperations, and AImpl just delegates method call to native methods. These relations are auto-generated. Everything ok, but I have stand before problem. Sometime interface like A need expose iterator capability. I can affect interface, but cannot change implementation (AImpl). Saying in C# I could be able resolve problem by simple partial: (C# sample) partial class AImpl{ ... //here comes auto generated code } partial class AImpl{ ... //here comes MY implementation of ... //Iterator } So, has java analogue of partial or something like.

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  • How to show loading spinner in jQuery?

    - by Edward Tanguay
    In Prototype I can show a "loading..." image with this code: var myAjax = new Ajax.Request( url, {method: 'get', parameters: pars, onLoading: showLoad, onComplete: showResponse} ); function showLoad () { ... } In jQuery, I can load a server page into an element with this: $('#message').load('index.php?pg=ajaxFlashcard'); but how do I attach a loading spinner to this command as I did in Prototype?

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  • Function parameters evaluation order: is undefined behaviour if we pass reference?

    - by bolov
    This is undefined behaviour: void feedMeValue(int x, int a) { cout << x << " " << a << endl; } int main() { int a = 2; int &ra = a; feedMeValue(ra = 3, a); return 0; } because depending on what parameter gets evaluated first we could call (3, 2) or (3, 3). However this: void feedMeReference(int x, int const &ref) { cout << x << " " << ref << endl; } int main() { int a = 2; int &ra = a; feedMeReference(ra = 3, a); return 0; } will always output 3 3 since the second parameter is a reference and all parameters have been evaluated before the function call, so even if the second parameter is evaluated before of after ra = 3, the function received a reference to a wich will have a value of 2 or 3 at the time of the evaluation, but will always have the value 3 at the time of the function call. Is the second example UB? It is important to know because the compiler is free to do anything if he detects undefined behaviour, even if I know it would always yield the same results. *Note: I think that feedMeReference(a = 3, a) is the exact same situation as feedMeReference(ra = 3, a). However it seems not everybody agrees, in the addition to having 2 completely different answers.

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  • Literature and Tutorials for Writing a Ray Tracer

    - by grrussel
    I am interested in finding recommendations on books on writing a raytracer, simple and clear implementations of ray tracing that can be seen on the web, and online resources on introductory raytracing. Ideally, the approach would be incremental and tutorial in style, and explain both the programming techniques and underyling mathematics, starting from the basics.

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  • How to choose the right web application framework?

    - by thenextwebguy
    http://en.wikipedia.org/wiki/Comparison_of_web_application_frameworks Since we are ambitiously aiming to be big, scalability is important, and so are globalization features. Since we are starting out without funding, price/performance and cost of licences/hardware is important. We definitely want to bring AJAX well present in the web interface. But apart from these, there's no further criteria I can come up with. I'm most experienced with C#/ASP.net, PHP and Java, in that order, but don't turn down other languages (Ruby, Python, Scala, etc.). How can we determine from the jungle of frameworks the one that suits best our goal? What other questions should we be asking ourselves? Reference material: articles, book recommendations, websites, etc.?

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  • Volatile fields in C#

    - by Danny Chen
    From the specification 10.5.3 Volatile fields: The type of a volatile field must be one of the following: A reference-type. The type byte, sbyte, short, ushort, int, uint, char, float, bool, System.IntPtr, or System.UIntPtr. An enum-type having an enum base type of byte, sbyte, short, ushort, int, or uint. First I want to confirm my understanding is correct: I guess the above types can be volatile because they are stored as a 4-bytes unit in memory(for reference types because of its address), which guarantees the read/write operation is atomic. A double/long/etc type can't be volatile because they are not atomic reading/writing since they are more than 4 bytes in memory. Is my understanding correct? And the second, if the first guess is correct, why a user defined struct with only one int field in it(or something similar, 4 bytes is ok) can't be volatile? Theoretically it's atomic right? Or it's not allowed simply because that all user defined structs(which is possibly more than 4 bytes) are not allowed to volatile by design?

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  • A database of questions with unambiguous numeric answers.

    - by dreeves
    I (and co-hackers) are building a sort of trivia game inspired by this blog post: http://messymatters.com/calibration. The idea is to give confidence intervals and learn how to be calibrated (when you're "90% sure" you should be right 90% of the time). We're thus looking for, ideally, thousands of questions with unambiguous numerical answers. Also, they shouldn't be too boring. There are a lot of random statistics out there -- eg, enclosed water area in different countries -- that would make the game mind-numbing. Things like release dates of classic movies are more interesting (to most people). Other interesting ones we've found include Olympic records, median incomes for different professions, dates of famous inventions, and celebrity ages. Scraping things like above, by the way, was my reason for asking this question: http://stackoverflow.com/questions/2611418/scrape-html-tables So, if you know of other sources of interesting numerical facts (in a parsable form) I'm eager for pointers to them. Thanks!

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  • What exactly are administrative redexes after CPS conversion?

    - by eljenso
    In the context of Scheme and CPS conversion, I'm having a little trouble deciding what administrative redexes (lambdas) exactly are: all the lambda expressions that are introduced by the CPS conversion only the lambda expressions that are introduced by the CPS conversion but you wouldn't have written if you did the conversion "by hand" or through a smarter CPS-converter If possible, a good reference would be welcome.

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