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  • How to avoid that the robot gets trapped in local minimum?

    - by nesmoht
    Hi, I have some time occupying myself with motion planning for robots, and have for some time wanted to explore the possibility of improving the opportunities as "potential field" method offers. My challenge is to avoid that the robot gets trapped in "local minimum" when using the "potential field" method. Instead of using a "random walk" approach to avoid that the robot gets trapped I have thought about whether it is possible to implement a variation of A* which could act as a sort of guide for precisely to avoid that the robot gets trapped in "local minimum". Is there some of the experiences of this kind, or can refer to literature, which avoids local minimum in a more effective way than the one used in the "random walk" approach.

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  • DDD: Where to create entity objects?

    - by ciscoheat
    I have three entities that must interact: User, SupportTicketand PhoneConversation. When someone calls in requesting help, the User should have a SupportTicket assigned to him, with a PhoneConversation assigned to the Ticked describing the call. My question is: In what entity should I put the method CreatePhoneSupportTicket() that creates a new SupportTicket and a PhoneConversation, relates them to each other and finally relates the SupportTicket to the User? I'm guessing it can't be on the user because that would violate the SRP (the user does a few more things). But the method itself does more than one thing, it should create both a SupportTicket and a PhoneConversation. Is this a situation when a Service is a better solution then putting methods on entities? Thanks for your help!

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  • ruby confusing -- local variable or instance_method ?

    - by boblu
    I have the following program. module C def self.included(base) base.extend(ClassMethods) end module ClassMethods def test_for class_eval <<-DEFINECLASSMETHODS def self.my_method(param_a) puts "SELF is: #{self.inspect}" puts param_a puts "#{param_a}" end DEFINECLASSMETHODS end end end class A include C end class B < A test_for end when I run B.new.my_method("aaa"), I got this error NameError: undefined local variable or method `param_a' for B:Class I am quite confused. I define param_a as a local variable in class method my_method, puts param_a runs good, and will output the "aaa". however, puts "#{param_a}" output that error. why? Can anyone explain this?

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  • WPF textbox derived control override drag&drop OnPreviewDrop (C sharp)

    - by Petr Klus
    Hi, I have been working on my custom control derived from the TextBox and I have encountered a problem I can not solve right now. Brief description of the problem: my textbox contains plain text which contains tags which I want to keep consistent - so far I have overriden text selection so they can be selected only as a whole tag etc. Right now I have moved to processing of drag&drop. If any text is dropped on the textfield and it is dropped on the tag, I want the insertion to be moved before or after the tag. The actual problem is with setting of the e.Handled=true. If I set it to true, it almost works - the text is inserted via my routine, but it is not removed from the source. If I set it to false, after executing my method the original textbox's insertion method is run. Is there any way to alter event routing? Or am I approaching this wrong from the start? Code of my method: protected override void OnPreviewDragEnter(DragEventArgs e) { base.OnPreviewDragEnter(e); e.Handled = true; // let us draw our very own caret... } protected override void OnPreviewDrop(DragEventArgs e) { base.OnPreviewDrop(e); fieldsReady = false; int selStart = this.SelectionStart; int selLength = this.SelectionLength; string droppedData = (string)e.Data.GetData(DataFormats.StringFormat); // where to insert Point whereDropped = e.GetPosition(this); int droppedIndex = GetCharacterIndexFromPoint(whereDropped, true); if (droppedIndex == this.Text.Length - 1) { double c = GetRectFromCharacterIndex(droppedIndex).X; if (whereDropped.X > c) droppedIndex++; } // only if the source was us, do this: if (this.SelectionLength > 0) // this means that we are dragging from our textbox! { // was there any selection? if so, remove it! this.Text = this.Text.Substring(0, selStart) + this.Text.Substring(selStart + selLength); e.Handled = true; // 2DO!! alter the indices depending on the removed selection // insertion this.Text = this.Text.Substring(0, droppedIndex) + droppedData + this.Text.Substring(droppedIndex); } }

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  • Advanced find in Rails

    - by jriff
    Hi all I really suck at Rails' finders besides the most obvious. I always resort to SQL when things get more advanced than Model.find(:all, :conditions => ['field>? and field<? and id in (select id from table)', 1,2]) I have this method: def self.get_first_validation_answer(id) a=find_by_sql(" select answers.*, answers_registrations.answer_text from answers_registrations left join answers on answers_registrations.answer_id=answers.id where (answers_registrations.question_id in (select id from questions where validation_question=true)) and (sale_registration_id=#{id}) limit 1 ").first a.answer_text || a.text if a end Can someone create a find method that gets me what I want? Regards, Jacob

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  • grailsApplication not getting injected in a service , Grails 2.1.0

    - by vijay tyagi
    I have service in which i am accessing few configuration properties from grailsApplication I am injecting it like this class MyWebService{ def grailsApplication WebService webService = new WebService() def getProxy(url, flag){ return webService.getClient(url) } def getResponse(){ def proxy = getProxy(grailsApplication.config.grails.wsdlURL, true) def response = proxy.getItem(ItemType) return response } } When i call getProxy() method, i see this in tomcat logs No signature of method: org.example.MyWebService.getProxy() is applicable for argument types: (groovy.util.ConfigObject, java.lang.Boolean) values: [[:], true] Possible solutions: getProxy(), getProxy(java.lang.String, boolean), setProxy(java.lang.Object) which means grailsApplication is not getting injected into the service, is there any alternate way to access configuration object ? according to burtbeckwith's post configurationholder has been deprecated, can't think of anything else. Interestingly the very same service works fine in my local IDE(GGTS 3.1.0), that means locally grailsApplication is getting injected, but when i create a war to deploy to a standalone tomcat, it stops getting injected.

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  • Threading and iterating through changing collections

    - by adamjellyit
    In C# (console app) I want to hold a collection of objects. All objects are of same type. I want to iterate through the collection calling a method on each object. And then repeat the process continuously. However during iteration objects can be added or removed from the list. (The objects themselves will not be destroyed .. just removed from the list). Not sure what would happen with a foreach loop .. or other similar method. This has to have been done 1000 times before .. can you recommend a solid approach?

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  • Extension methods on a static object

    - by Max Malygin
    I know (or so I hear) that writing extension methods for a single stand alone .net class (not an implementation of IEnumerable) is potential code smell. However, for the sake of making the life easier I need to attach a method to the ConfigurationManager class in asp.net. It's a static object so this won't work: public static List<string> GetSupportedDomains(this ConfigurationManager manager) { //the manager needs to be static. } So the question is - is it possible to write an extension method for a static class in .net?

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  • multiple regionDidChangeAnimated calls - what gives?

    - by mvexel
    I have a MKMapView inside a UITableView as a custom cell (don't ask ;) - don't know if it matters really), for which I register a regionDidChangeAnimated delegate method. This method gets called three times when the UITableView is loaded - once with the actual region and then two more times with a region that is way off. In the simulator, I consistently get a region with center (+37.43997405, -97.03125000). On the device, it seems to depend on the location reported by the location manager, which initializes the map view. Why am I getting three regionDidChangeAnimated calls? And why are the center coordinates for the last two of them off? This is the code I use to get the center coordinates: - (void)mapView:(MKMapView *)mapView regionDidChangeAnimated:(BOOL)animated { CLLocation *l = [[CLLocation alloc] initWithLatitude:self.mapView.centerCoordinate.latitude longitude:self.mapView.centerCoordinate.longitude]; (....)

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  • Iphone Orientation Change

    - by SG
    I am trying to implement orientation change functionality in my application.I have overrided -(void) didRotateFromInterfaceOrientation:(UIInterfaceOrientation)fromInterfaceOrientation. In this method i change the frame size of the tableview(including the position of the cell items) which is present in the view. The tableview Details: Added to the view as [self.view addSubView:tableView] in the viewDidLoad method of the view controller; Cell item (row) has a textfield and a segmented control. There are 10 cells in the table view and in landscape mode only 2 cells are visible and in potrait mode 5 cells are visible. I have implemented scroller. Issue: Certain times on changing the orientation to potrait mode certain segmented controls in the cell are not rendered (Not shown at all). This happens when i am viewing the last couple of cells in the landscape mode and i change the orientation to potrait mode.

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  • LoadContent does not work in my components

    - by drozzy
    For some reason the LoadContent method does not get called in my Components. For example I have Game class in which I do: //Game.cs protected override void LoadContent() { editor = new Editor(...); Components.Add(editor); } //Editor.cs public class Editor : DrawableGameComponent{ Game game; public Editor(Game game, ...):base(game){ this.game = game; } //THIS method never gets called! protected override void LoadContent() { background = game.Content.Load<Texture2D>("background"); base.LoadContent(); } } Any tips? EDIT: When you keep in mind the order of Initialize and LoadContent everything works out fine!

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  • Simple Sinatra Ajax Not Working

    - by proteantech
    I was trying make an AJAX call from a static file on my computer to a simple sinatra service. The ajax call was returning with an error and no details. The server logged no errors either. Another strange symptom was that the Origin in the request header was null. I turns out that you can't make cross domain ajax calls without a little extra effort. You can set the Access-Control-Allow-Origin header on your sinatra response to expose your service to external domains using a snippet like this: get '/hi' do response['Access-Control-Allow-Origin'] = '*' content_type 'text/plain' "Hello World" end There's also another header you can set to allow other HTTP Methods besides gets, Access-Control-Request-Method. You can find more information by searching around for CORS: Cross Origin Resource Sharing and the previously mentioned headers. Oh, and in case you want to do this in Rails as well you can do something like this in your controller: after_filter :set_access_control_headers def set_access_control_headers headers['Access-Control-Allow-Origin'] = '*' headers['Access-Control-Request-Method'] = '*' end

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  • Fast ceiling of an integer division in C / C++

    - by andand
    Given integer values x and y, C and C++ returns as the quotient q = x/y the floor of the floating point valued equivalent. I'm interestd in a method of returning the ceiling instead? For example, ceil(10/5) = 2 and ceil(11/5) = 3. The obvious approach involves something like: q = x / y; if (q * y < x) ++q; This requires an extra comparison and multiplication; and other methods I've seen (used in fact) involve casting as a float or double. Is there a more direct method that avoids the additional multiplication (or a second division) and branch, and that also avoids casting as a floating point number?

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  • Wrap Sub as Function for use in Lambda

    - by Luhmann
    I have a problem with VB and Moq. I need to call a verify on a Sub. Like so: logger.Verify(Function(x) x.Log, Times.AtLeastOnce) And my logger looks like this: Public Interface ILogger Sub Log() End Interface But with VB this is not possible, because the Log method is a Sub, and thereby does not produce a value. I don't want to change the method to be a function. Whats the cleanest way of working around this limitation and is there any way to wrap the Sub as a Function like the below? logger.Verify(Function(x) ToFunc(AddressOf x.Log)) I have tried this, but i get: Lambda Parameter not in scope

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  • How to add an item to the top of a dynamic list

    - by user181318
    Like the title states, does anyone out there have a clear way to implement this type of functionality? Example: If you go to http://weewar.com, in their front page you noticed an ajax module that updates every second. However, all of the new items are added to the top of the list. My question is around that very same functionality. Does anyone have an easy and clear idea as to how one would implement this functionality? So far I have a method that initially creates the list, then another method is called in an interval that pulls the most recent data from the server.. However, I'm stuck with, how can I add the new dynamic node to the top of the list. If you can guide me to where I can find this information or give me an idea as to how I can implement this I will be very happy and grateful :) Thanks in advanced.

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  • Serialze an Object to a String

    - by Vaccano
    I have the following method to save an Object to a file: // Save an object out to the disk public static void SerializeObject<T>(this T toSerialize, String filename) { XmlSerializer xmlSerializer = new XmlSerializer(toSerialize.GetType()); TextWriter textWriter = new StreamWriter(filename); xmlSerializer.Serialize(textWriter, toSerialize); textWriter.Close(); } I confess I did not write it (I only converted it to a extension method that took a type parameter). Now I need it to give the xml back to me as a string (rather than save it to a file). I am looking into it, but I have not figured it out yet. I thought this might be really easy for someone familiar with these objects. If not I will figure it out eventually.

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  • comparing int values in android

    - by user1183066
    I am making an android game that is checking the players health value when this method is being runned. But however, it's not reacting. It doesn't do anything, when the value is less than 3, it shouldn't do anything, but when it is equal to 3, it should run a method. Please help me and thanks SO much in advance! This is the code that i am using: private void checkLivesLeftValue() { if (livesLeftValue == 3) { //Message to display: "You lost! onMethod(); } else { livesLeftValue = livesLeftValue + 1; } }

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  • When to update audit fields? DDD

    - by user676767
    I have a Meeting Object: Meeting{id, name, time, CreatedBy, UpdatedBy} and a MeetingAssignee{id, MeetingID, EmployeeId, CreatedBy, UpdatedBy) Meeting, as Aggregate root, has a method AssignEmployee. I was about to pass in the current user to the Meeting object as I call AssignEmployee, so that it can update its audit fields accordingly. But this doesn't seem right - is it? Obviously I can keep the audit fields public and change them later - perhaps at service level? What is everyone's else preferred method for updating these fields? Please note: We are not using Nhibernate, but a custom ORM which does not have anything automatic in place. Thanks.

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  • Making linq avoid using in memory filtering where possible

    - by linqmonkey
    Consider the these two LINQ2SQL data retrieval methods. The first creates a 'proper' SQL statement that filters the data, but requires passing the data context into the method. The second has a nicer syntax but loads the entire list of that accounts projects, then does in memory filtering. Is there any way to preserve the syntax of the second method but with the performance advantage of the first? public partial class Account { public IQueryable<Project> GetProjectsByYear(LinqDataContext context, int year) { return context.Projects.Where(p => p.AccountID==this.AccountID && p.Year==year).OrderBy(p => p.ProjectNo) } public IQueryable<Project> GetProjectsByYear(int year) { return this.Projects.Where(p => p.Year==year).OrderBy(p => p.ProjectNo).AsQueryable() } }

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  • Operator as and generic classes

    - by abatishchev
    I'm writing .NET On-the-Fly compiler for CLR scripting and want execution method make generic acceptable: object Execute() { return type.InvokeMember(..); } T Execute<T>() { return Execute() as T; /* doesn't work: The type parameter 'T' cannot be used with the 'as' operator because it does not have a class type constraint nor a 'class' constraint */ // also neither typeof(T) not T.GetType(), so on are possible return (T) Execute(); // ok } But I think operator as will be very useful: if result type isn't T method will return null, instead of an exception! Is it possible to do?

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  • Solving a recurrence T(n) = 2T(n/2) + n^4

    - by user563454
    I am studying using the MIT Courseware and the CLRS book Introduction to Algorithms. Solving recurrence T(n) = 2T(n/2) + n4 (page 107) If I make a recurrence tree I get: level 0 n^4 level 1 2(n/2)^4 level 2 4(n/4)^4 level 3 8(n/8)^4 The tree has lg(n) levels. Therefore the recurrence is T(n) = Theta(lg(n)n^4)) But, If I use the Master method I get. Apply case 3: T(n) = Theta(n^4) If I apply the substitution method both seem to hold. Which one is ri?

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  • Indexing with pointer C/C++

    - by Leavenotrace
    Hey I'm trying to write a program to carry out newtons method and find the roots of the equation exp(-x)-(x^2)+3. It works in so far as finding the root, but I also want it to print out the root after each iteration but I can't get it to work, Could anyone point out my mistake I think its something to do with my indexing? Thanks a million :) #include <stdio.h> #include <math.h> #include <malloc.h> //Define Functions: double evalf(double x) { double answer=exp(-x)-(x*x)+3; return(answer); } double evalfprime(double x) { double answer=-exp(-x)-2*x; return(answer); } double *newton(double initialrt,double accuracy,double *data) { double root[102]; data=root; int maxit = 0; root[0] = initialrt; for (int i=1;i<102;i++) { *(data+i)=*(data+i-1)-evalf(*(data+i-1))/evalfprime(*(data+i-1)); if(fabs(*(data+i)-*(data+i-1))<accuracy) { maxit=i; break; } maxit=i; } if((maxit+1==102)&&(fabs(*(data+maxit)-*(data+maxit-1))>accuracy)) { printf("\nMax iteration reached, method terminated"); } else { printf("\nMethod successful"); printf("\nNumber of iterations: %d\nRoot Estimate: %lf\n",maxit+1,*(data+maxit)); } return(data); } int main() { double root,accuracy; double *data=(double*)malloc(sizeof(double)*102); printf("NEWTONS METHOD PROGRAMME:\nEquation: f(x)=exp(-x)-x^2+3=0\nMax No iterations=100\n\nEnter initial root estimate\n>> "); scanf("%lf",&root); _flushall(); printf("\nEnter accuracy required:\n>>"); scanf("%lf",&accuracy); *data= *newton(root,accuracy,data); printf("Iteration Root Error\n "); printf("%d %lf \n", 0,*(data)); for(int i=1;i<102;i++) { printf("%d %5.5lf %5.5lf\n", i,*(data+i),*(data+i)-*(data+i-1)); if(*(data+i*sizeof(double))-*(data+i*sizeof(double)-1)==0) { break; } } getchar(); getchar(); free(data); return(0); }

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  • GAE JCache NumberFormatException, will I need to write Java to avoid?

    - by Jasper
    This code below produces a NumberFormatException in this line: val cache = cf.createCache(Collections.emptyMap()) Do you see any errors? Will I need to write a Java version to avoid this, or is there a Scala way? ... import java.util.Collections import net.sf.jsr107cache._ object QueryGenerator extends ServerResource { private val log = Logger.getLogger(classOf[QueryGenerator].getName) } class QueryGenerator extends ServerResource { def getCounter(cache:Cache):long = { if (cache.containsKey("counter")) { cache.get("counter").asInstanceOf[long] } else { 0l } } @Get("html") def getHtml(): Representation = { val cf = CacheManager.getInstance().getCacheFactory() val cache = cf.createCache(Collections.emptyMap()) val counter = getCounter(cache) cache.put("counter", counter + 1) val q = QueueFactory.getQueue("query-generator") q.add(TaskOptions.Builder.url("/tasks/query-generator").method(Method.GET).countdownMillis(1000L)) QueryGenerator.log.warning(counter.toString) new StringRepresentation("QueryGenerator started!", MediaType.TEXT_HTML) } } Thanks!

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