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Diffstat (limited to 'src/gen/lib/pathplan/solvers__c.java')
| -rw-r--r-- | src/gen/lib/pathplan/solvers__c.java | 156 |
1 files changed, 156 insertions, 0 deletions
diff --git a/src/gen/lib/pathplan/solvers__c.java b/src/gen/lib/pathplan/solvers__c.java new file mode 100644 index 0000000..9eb4c91 --- /dev/null +++ b/src/gen/lib/pathplan/solvers__c.java @@ -0,0 +1,156 @@ +/* ======================================================================== + * PlantUML : a free UML diagram generator + * ======================================================================== + * + * Project Info: http://plantuml.com + * + * If you like this project or if you find it useful, you can support us at: + * + * http://plantuml.com/patreon (only 1$ per month!) + * http://plantuml.com/paypal + * + * This file is part of Smetana. + * Smetana is a partial translation of Graphviz/Dot sources from C to Java. + * + * (C) Copyright 2009-2017, Arnaud Roques + * + * This translation is distributed under the same Licence as the original C program: + * + ************************************************************************* + * Copyright (c) 2011 AT&T Intellectual Property + * All rights reserved. This program and the accompanying materials + * are made available under the terms of the Eclipse Public License v1.0 + * which accompanies this distribution, and is available at + * http://www.eclipse.org/legal/epl-v10.html + * + * Contributors: See CVS logs. Details at http://www.graphviz.org/ + ************************************************************************* + * + * THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE PUBLIC + * LICENSE ("AGREEMENT"). [Eclipse Public License - v 1.0] + * + * ANY USE, REPRODUCTION OR DISTRIBUTION OF THE PROGRAM CONSTITUTES + * RECIPIENT'S ACCEPTANCE OF THIS AGREEMENT. + * + * You may obtain a copy of the License at + * + * http://www.eclipse.org/legal/epl-v10.html + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +package gen.lib.pathplan; +import static smetana.core.JUtils.atan2; +import static smetana.core.JUtils.cos; +import static smetana.core.JUtils.pow; +import static smetana.core.JUtils.sqrt; +import static smetana.core.JUtilsDebug.ENTERING; +import static smetana.core.JUtilsDebug.LEAVING; + +public class solvers__c { + + +//3 2rap7a11ad4ugnphkh9gbn4xl +// int solve3(double *coeff, double *roots) +public static int solve3(double coeff[], double roots[]) { +ENTERING("2rap7a11ad4ugnphkh9gbn4xl","solve3"); +try { + double a, b, c, d; + int rootn, i; + double p, q, disc, b_over_3a, c_over_a, d_over_a; + double r, theta, temp, alpha, beta; + a = coeff[3]; b = coeff[2]; c = coeff[1]; d = coeff[0]; + if ((((a) < 1E-7) && ((a) > -1E-7))) + return solve2(coeff, roots); + b_over_3a = b / (3 * a); + c_over_a = c / a; + d_over_a = d / a; + p = b_over_3a * b_over_3a; + q = 2 * b_over_3a * p - b_over_3a * c_over_a + d_over_a; + p = c_over_a / 3 - p; + disc = q * q + 4 * p * p * p; + if (disc < 0) { + r = .5 * sqrt(-disc + q * q); + theta = atan2(sqrt(-disc), -q); + temp = 2 * ((r < 0) ? (-1*pow(-r, 1.0/3.0)) : pow (r, 1.0/3.0)); + roots[0] = temp * cos(theta / 3); + roots[1] = temp * cos((theta + 3.14159265358979323846 + 3.14159265358979323846) / 3); + roots[2] = temp * cos((theta - 3.14159265358979323846 - 3.14159265358979323846) / 3); + rootn = 3; + } else { + alpha = .5 * (sqrt(disc) - q); + beta = -q - alpha; + roots[0] = ((alpha < 0) ? (-1*pow(-alpha, 1.0/3.0)) : pow (alpha, 1.0/3.0)) + ((beta < 0) ? (-1*pow(-beta, 1.0/3.0)) : pow (beta, 1.0/3.0)); + if (disc > 0) + rootn = 1; + else + {roots[1] = roots[2] = -.5 * roots[0]; rootn = 3;} + } + for (i = 0; i < rootn; i++) + roots[i] -= b_over_3a; + return rootn; +} finally { +LEAVING("2rap7a11ad4ugnphkh9gbn4xl","solve3"); +} +} + + + + +//3 9b5238tdddphds1x726z0osdm +// int solve2(double *coeff, double *roots) +public static int solve2(double coeff[], double roots[]) { +ENTERING("9b5238tdddphds1x726z0osdm","solve2"); +try { + double a, b, c; + double disc, b_over_2a, c_over_a; + a = coeff[2]; b = coeff[1]; c = coeff[0]; + if ((((a) < 1E-7) && ((a) > -1E-7))) + return solve1(coeff, roots); + b_over_2a = b / (2 * a); + c_over_a = c / a; + disc = b_over_2a * b_over_2a - c_over_a; + if (disc < 0) + return 0; + else if (disc == 0) { + roots[0] = -b_over_2a; + return 1; + } else { + roots[0] = -b_over_2a + sqrt(disc); + roots[1] = -2 * b_over_2a - roots[0]; + return 2; + } +} finally { +LEAVING("9b5238tdddphds1x726z0osdm","solve2"); +} +} + + + + +//3 8xtqt7j6wyxc1b6tj0qtcu1rd +// int solve1(double *coeff, double *roots) +public static int solve1(double coeff[], double roots[]) { +ENTERING("8xtqt7j6wyxc1b6tj0qtcu1rd","solve1"); +try { + double a, b; + a = coeff[1]; b = coeff[0]; + if ((((a) < 1E-7) && ((a) > -1E-7))) { + if ((((b) < 1E-7) && ((b) > -1E-7))) + return 4; + else + return 0; + } + roots[0] = -b / a; + return 1; +} finally { +LEAVING("8xtqt7j6wyxc1b6tj0qtcu1rd","solve1"); +} +} + + +} |