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/*
* Copyright (C) 2010 Thorsten Liebig (Thorsten.Liebig@gmx.de)
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "useful.h"
#include <cstdio>
#include <cstdlib>
#include <cmath>
#include <climits>
#include <stdio.h>
#include <stdlib.h>
#include <iomanip>
#include <sstream>
#include <boost/algorithm/string.hpp>
#include <iostream>
unsigned int CalcNyquistNum(double fmax, double dT)
{
if (fmax==0) return UINT_MAX;
if (dT==0) return 1;
double T0 = 1/fmax;
return floor(T0/2/dT);
}
double CalcNyquistFrequency(unsigned int nyquist, double dT)
{
if (nyquist==0) return 0;
if (dT==0) return 0;
return floor(1/(double)nyquist/2/dT);
}
std::vector<unsigned int> AssignJobs2Threads(unsigned int jobs, unsigned int nrThreads, bool RemoveEmpty)
{
std::vector<unsigned int> jpt; //jobs per thread
unsigned int ui_jpt = jobs/nrThreads;
for (unsigned int n=0; n<nrThreads; ++n)
{
jpt.push_back(ui_jpt);
jobs-=ui_jpt;
}
for (unsigned int n=0; n<nrThreads; ++n)
{
if (jobs>0)
{
++jpt.at(n);
--jobs;
}
}
if (jobs>0)
std::cerr << "AssignJobs2Threads: Error, " << jobs << " remain to be assigned, this should not have happened..." << std::endl;
if (RemoveEmpty)
{
while (jpt.back()==0)
jpt.pop_back();
}
return jpt;
}
std::vector<float> SplitString2Float(std::string str, std::string delimiter)
{
std::vector<float> v_f;
std::vector<std::string> results;
boost::split(results, str, boost::is_any_of(delimiter));
for (size_t n=0;n<results.size();++n)
{
std::istringstream is(results.at(n));
float num;
if (is >> num)
v_f.push_back(num);
}
return v_f;
}
std::vector<double> SplitString2Double(std::string str, std::string delimiter)
{
std::vector<double> v_f;
std::vector<std::string> results;
boost::split(results, str, boost::is_any_of(delimiter));
for (size_t n=0;n<results.size();++n)
{
std::istringstream is(results.at(n));
double num;
if (is >> num)
v_f.push_back(num);
}
return v_f;
}
bool CrossProd(const double *v1, const double *v2, double* out)
{
int nP,nPP;
for (int n=0;n<3;++n)
{
nP = (n+1)%3;
nPP = (n+2)%3;
out[n] = v1[nP]*v2[nPP] - v1[nPP]*v2[nP];
}
return ((out[0]+out[1]+out[2])>0);
}
double ScalarProd(const double *v1, const double *v2)
{
double out=0;
for (int n=0;n<3;++n)
out+=v1[n]*v2[n];
return out;
}
double Determinant(const double *mat)
{
return mat[0]*mat[4]*mat[8]+mat[1]*mat[5]*mat[6]+mat[2]*mat[3]*mat[7]-mat[2]*mat[4]*mat[6]-mat[1]*mat[3]*mat[8]-mat[0]*mat[5]*mat[7];
}
double* Invert(const double* in, double* out)
{
double det = Determinant(in);
out[0] = (in[4]*in[8]-in[5]*in[7])/det;
out[1] = (in[2]*in[7]-in[1]*in[8])/det;
out[2] = (in[1]*in[5]-in[2]*in[4])/det;
out[3] = (in[5]*in[6]-in[3]*in[8])/det;
out[4] = (in[0]*in[8]-in[2]*in[6])/det;
out[5] = (in[2]*in[3]-in[0]*in[5])/det;
out[6] = (in[3]*in[7]-in[4]*in[6])/det;
out[7] = (in[1]*in[6]-in[0]*in[7])/det;
out[8] = (in[0]*in[4]-in[1]*in[3])/det;
return out;
}
int LinePlaneIntersection(const double *p0, const double *p1, const double *p2, const double *l_start, const double *l_stop, double* is_point, double &dist)
{
dist = 0;
double mat[9];
for (int n=0;n<3;++n)
{
is_point[n] = 0;
mat[3*n] = l_start[n]-l_stop[n];
mat[3*n+1] = p1[n]-p0[n];
mat[3*n+2] = p2[n]-p0[n];
}
double det = Determinant(mat);
if (fabs(det)<1e-50)
return -1;
double inv_mat[9];
Invert(mat, inv_mat);
double t=0,u=0,v=0;
for (int n=0;n<3;++n)
{
t+=inv_mat[n]*(l_start[n]-p0[n]);
u+=inv_mat[3+n]*(l_start[n]-p0[n]);
v+=inv_mat[6+n]*(l_start[n]-p0[n]);
}
dist = t;
for (int n=0;n<3;++n)
is_point[n] = l_start[n]*(1-dist) + l_stop[n]*dist;
if ((u<0) || (u>1) || (v<0) || (v>1))
return 1;
if ((t<0) || (t>1))
return 2;
return 0;
}
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