Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: ArrowInvalid
Message: JSON parse error: Missing a closing quotation mark in string. in row 1229
Traceback: Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 145, in _generate_tables
dataset = json.load(f)
File "/usr/local/lib/python3.9/json/__init__.py", line 293, in load
return loads(fp.read(),
File "/usr/local/lib/python3.9/json/__init__.py", line 346, in loads
return _default_decoder.decode(s)
File "/usr/local/lib/python3.9/json/decoder.py", line 340, in decode
raise JSONDecodeError("Extra data", s, end)
json.decoder.JSONDecodeError: Extra data: line 2 column 1 (char 2587)
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1995, in _prepare_split_single
for _, table in generator:
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 148, in _generate_tables
raise e
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 122, in _generate_tables
pa_table = paj.read_json(
File "pyarrow/_json.pyx", line 308, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: JSON parse error: Missing a closing quotation mark in string. in row 1229
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1529, in compute_config_parquet_and_info_response
parquet_operations = convert_to_parquet(builder)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1154, in convert_to_parquet
builder.download_and_prepare(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1027, in download_and_prepare
self._download_and_prepare(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1122, in _download_and_prepare
self._prepare_split(split_generator, **prepare_split_kwargs)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1882, in _prepare_split
for job_id, done, content in self._prepare_split_single(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 2038, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
text
string | meta
dict |
|---|---|
namespace viz {
class DawnContextProvider;
class SkiaOutputDeviceDawn : public SkiaOutputDevice {
public:
SkiaOutputDeviceDawn(
DawnContextProvider* context_provider,
gfx::AcceleratedWidget widget,
gfx::SurfaceOrigin origin,
gpu::MemoryTracker* memory_tracker,
DidSwapBufferCompleteCallback did_swap_buffer_complete_callback);
SkiaOutputDeviceDawn(const SkiaOutputDeviceDawn&) = delete;
SkiaOutputDeviceDawn& operator=(const SkiaOutputDeviceDawn&) = delete;
~SkiaOutputDeviceDawn() override;
gpu::SurfaceHandle GetChildSurfaceHandle() const;
// SkiaOutputDevice implementation:
bool Reshape(const SkSurfaceCharacterization& characterization,
const gfx::ColorSpace& color_space,
float device_scale_factor,
gfx::OverlayTransform transform) override;
void SwapBuffers(BufferPresentedCallback feedback,
OutputSurfaceFrame frame) override;
SkSurface* BeginPaint(
std::vector<GrBackendSemaphore>* end_semaphores) override;
void EndPaint() override;
private:
// Create a platform-specific swapchain implementation.
void CreateSwapChainImplementation();
DawnContextProvider* const context_provider_;
DawnSwapChainImplementation swap_chain_implementation_;
wgpu::SwapChain swap_chain_;
wgpu::Texture texture_;
sk_sp<SkSurface> sk_surface_;
std::unique_ptr<gfx::VSyncProvider> vsync_provider_;
gfx::Size size_;
sk_sp<SkColorSpace> sk_color_space_;
int sample_count_ = 1;
// D3D12 requires that we use flip model swap chains. Flip swap chains
// require that the swap chain be connected with DWM. DWM requires that
// the rendering windows are owned by the process that's currently doing
// the rendering. gl::ChildWindowWin creates and owns a window which is
// reparented by the browser to be a child of its window.
gl::ChildWindowWin child_window_;
};
} // namespace viz
#endif // COMPONENTS_VIZ_SERVICE_DISPLAY_EMBEDDER_SKIA_OUTPUT_DEVICE_DAWN_H_
|
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|
SYNONYM
#### According to
The Catalogue of Life, 3rd January 2011
#### Published in
null
#### Original name
null
### Remarks
null
|
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<!-- NewPage -->
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<head>
<!-- Generated by javadoc (version 1.7.0_55) on Sun Oct 26 05:56:34 EDT 2014 -->
<meta http-equiv="Content-Type" content="text/html" charset="utf-8">
<title>Uses of Class org.apache.solr.handler.component.SpellCheckComponent (Solr 4.10.2 API)</title>
<meta name="date" content="2014-10-26">
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<i>Copyright © 2000-2014 Apache Software Foundation. All Rights Reserved.</i>
<script src='../../../../../../prettify.js' type='text/javascript'></script>
<script type='text/javascript'>
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var oldonload = window.onload;
if (typeof oldonload != 'function') {
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|
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"""
Default ChatterBot settings for Django.
"""
from django.conf import settings
CHATTERBOT_SETTINGS = getattr(settings, 'CHATTERBOT', {})
CHATTERBOT_DEFAULTS = {
'name': 'ChatterBot',
'storage_adapter': 'chatterbot.storage.DjangoStorageAdapter',
'input_adapter': 'chatterbot.input.VariableInputTypeAdapter',
'output_adapter': 'chatterbot.output.OutputAdapter',
'use_django_models': True,
'django_app_name': 'django_chatterbot'
}
CHATTERBOT = CHATTERBOT_DEFAULTS.copy()
CHATTERBOT.update(CHATTERBOT_SETTINGS)
|
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|
' Licensed to the .NET Foundation under one or more agreements.
' The .NET Foundation licenses this file to you under the MIT license.
' See the LICENSE file in the project root for more information.
Imports System
Imports System.Composition
Imports System.Runtime.CompilerServices
Imports Microsoft.CodeAnalysis.CodeStyle
Imports Microsoft.CodeAnalysis.Host.Mef
Imports Microsoft.CodeAnalysis.Options
Namespace Microsoft.CodeAnalysis.VisualBasic.CodeStyle
Friend Module VisualBasicCodeStyleOptionsStorage
<ExportLanguageService(GetType(ICodeStyleOptionsStorage), LanguageNames.VisualBasic), [Shared]>
Private NotInheritable Class Service
Implements ICodeStyleOptionsStorage
<ImportingConstructor>
<Obsolete(MefConstruction.ImportingConstructorMessage, True)>
Public Sub New()
End Sub
Public Function GetOptions(globalOptions As IGlobalOptionService) As IdeCodeStyleOptions Implements ICodeStyleOptionsStorage.GetOptions
Return GetVisualBasicCodeStyleOptions(globalOptions)
End Function
End Class
<Extension>
Public Function GetVisualBasicCodeStyleOptions(globalOptions As IGlobalOptionService) As VisualBasicIdeCodeStyleOptions
Return New VisualBasicIdeCodeStyleOptions(
Common:=globalOptions.GetCommonCodeStyleOptions(LanguageNames.VisualBasic),
PreferredModifierOrder:=globalOptions.GetOption(VisualBasicCodeStyleOptions.PreferredModifierOrder),
PreferIsNotExpression:=globalOptions.GetOption(VisualBasicCodeStyleOptions.PreferIsNotExpression),
PreferSimplifiedObjectCreation:=globalOptions.GetOption(VisualBasicCodeStyleOptions.PreferSimplifiedObjectCreation),
UnusedValueExpressionStatement:=globalOptions.GetOption(VisualBasicCodeStyleOptions.UnusedValueExpressionStatement),
UnusedValueAssignment:=globalOptions.GetOption(VisualBasicCodeStyleOptions.UnusedValueAssignment))
End Function
End Module
End Namespace
|
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munge output from wordpress based on headers sent by a reverse proxy
|
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<!--
Please describe changes proposed and WHY you made them. If fixing an issue,
include the text "Fixes #XXX" (replace XXX by the issue number. GitHub will
automatically close it when this gets merged.
-->
**Reminders**:
- [ ] Run `invoke format` to make sure the code follows the style guide,
- [ ] Add tests for new features or tests that would have caught the bug that you're fixing,
- [ ] Write detailed docstrings for all functions, classes and/or methods,
- [ ] If adding new functionality, unit test it and add it to the documentation.
|
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package fr.pizzeria.dao;
import static org.junit.Assert.*;
import java.math.BigDecimal;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Optional;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import fr.pizzeria.exception.DaoException;
import fr.pizzeria.exception.DeletePizzaException;
import fr.pizzeria.exception.SavePizzaException;
import fr.pizzeria.model.CategoriePizza;
import fr.pizzeria.model.Pizza;
public class PizzaDaoImplTest {
private PizzaDaoImpl pizzaDaoImpl;
private List<Pizza> listePizzaInitiales;
private Map<String, Pizza> pizzas = new HashMap<String, Pizza>();
@BeforeClass
public static void setUpBeforeClass() throws Exception {
}
@AfterClass
public static void tearDownAfterClass() throws Exception {
}
@Before
public void setUp() throws Exception {
pizzaDaoImpl = new PizzaDaoImpl();
listePizzaInitiales = new ArrayList<Pizza>();
listePizzaInitiales.add(new Pizza("PEP", "Pépéroni", BigDecimal.valueOf(12.50), CategoriePizza.VIANDE, null));
listePizzaInitiales.add(new Pizza("MAR", "Margherita", BigDecimal.valueOf(14.00), CategoriePizza.SANS_VIANDE, null));
listePizzaInitiales.add(new Pizza("REI", "La Reine", BigDecimal.valueOf(11.50), CategoriePizza.VIANDE, null));
listePizzaInitiales.add(new Pizza("FRO", "La 4 fromages", BigDecimal.valueOf(12.00), CategoriePizza.SANS_VIANDE, null));
listePizzaInitiales.add(new Pizza("CAN", "La cannibale", BigDecimal.valueOf(12.50), CategoriePizza.VIANDE, null));
listePizzaInitiales.add(new Pizza("SAV", "La savoyarde", BigDecimal.valueOf(13.00), CategoriePizza.VIANDE, null));
listePizzaInitiales.add(new Pizza("ORI", "L'orientale", BigDecimal.valueOf(13.50), CategoriePizza.VIANDE, null));
listePizzaInitiales.add(new Pizza("IND", "L'indienne", BigDecimal.valueOf(14.00), CategoriePizza.VIANDE, null));
listePizzaInitiales.add(new Pizza("SAU", "La Saumonéta", BigDecimal.valueOf(14.00), CategoriePizza.POISSON, null));
listePizzaInitiales.sort(Comparator.comparing(Pizza::getCode));
}
@After
public void tearDown() throws Exception {
}
@Test
public void testPizzaDaoImpl() {
}
@Test
public void testFindAllPizzas() {
List<Pizza> resultat = pizzaDaoImpl.findAllPizzas();
resultat.sort(Comparator.comparing(Pizza::getCode));
Pizza[] tabPizzasInitiales = listePizzaInitiales.<Pizza>toArray(new Pizza[0]);
Pizza[] tabResultatObtenu = resultat.<Pizza>toArray(new Pizza[0]);
assertArrayEquals(tabPizzasInitiales, tabResultatObtenu);
}
@Test
public void testSavePizzaCodeNonExistant() throws DaoException {
Pizza newPizza = new Pizza("CODE_INEXISTANT", "Nouveau nom", BigDecimal.valueOf(15), CategoriePizza.VIANDE, null);
pizzaDaoImpl.savePizza(newPizza);
List<Pizza> listPizzas = pizzaDaoImpl.findAllPizzas();
assertTrue(listPizzas.contains(newPizza));
}
@Test (expected = SavePizzaException.class)
public void testSavePizzaCodeExistant() throws DaoException {
Pizza newPizza = new Pizza("PEP", "Nouveau nom", BigDecimal.valueOf(15), CategoriePizza.VIANDE, null);
pizzaDaoImpl.savePizza(newPizza);
}
@Test
public void testUpdatePizzaCodeExistant() throws DaoException {
Pizza updatePizza = new Pizza("PEP", "PEP2", BigDecimal.valueOf(15), CategoriePizza.VIANDE, null);
pizzaDaoImpl.updatePizza("PEP", updatePizza);
List<Pizza> listPizzas = pizzaDaoImpl.findAllPizzas();
Optional<Pizza> pizzaOpt = listPizzas.stream().filter(p -> "PEP".equals(p.getCode())).findFirst();
assertTrue(pizzaOpt.isPresent());
Pizza pizzaTrouve = pizzaOpt.get();
assertEquals("PEP", pizzaTrouve.getCode());
assertEquals("PEP2", pizzaTrouve.getNom());
assertTrue(pizzaTrouve.getPrix().compareTo(BigDecimal.valueOf(15.0))==0);
assertEquals(CategoriePizza.VIANDE, pizzaTrouve.getCategorie());
}
@Test
public void testDeletePizza() throws DaoException {
List<Pizza> listPizzas = pizzaDaoImpl.findAllPizzas();
assertEquals(9, listPizzas.size());
pizzaDaoImpl.deletePizza("PEP");
listPizzas = pizzaDaoImpl.findAllPizzas();
assertEquals(8, listPizzas.size());
Optional<Pizza> pizzaOpt = listPizzas.stream().filter(p -> "PEP".equals(p.getCode())).findFirst();
assertFalse(pizzaOpt.isPresent());
}
@Test(expected = DeletePizzaException.class)
public void testDeletePizzaCodeInexistant() throws DaoException {
pizzaDaoImpl.deletePizza("PEP1");
}
}
|
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<!DOCTYPE HTML>
<html>
<head>
<meta charset="UTF-8">
<title>TrackAnnot</title>
<link rel="stylesheet" href="resources/app.css">
<link rel="stylesheet" href="resources/libs/Cesium-1.14/Build/Cesium/Widgets/widgets.css">
<!--
See https://developers.google.com/loader/#AutoLoading
Convert:
google.load("maps", "3.xx", {other_params:"sensor=false"});
to:
{"modules":[{"version":"3.xx","other_params":"sensor=false","name":"maps"}]}
and append after 'https://www.google.com/jsapi?autoload=' in url encoded format.
-->
<script type="text/javascript" src="https://www.google.com/jsapi?autoload=%7B%22modules%22%3A%5B%7B%22version%22%3A%223.xx%22%2C%22other_params%22%3A%22sensor%3Dfalse%22%2C%22name%22%3A%22maps%22%7D%5D%7D"></script>
<script type="text/javascript" src="resources/libs/d3/d3.min.js"></script>
<script type="text/javascript" src="resources/libs/Cesium-1.14/Build/Cesium/Cesium.js"></script>
<!-- <x-compile> -->
<!-- <x-bootstrap> -->
<link rel="stylesheet" href="bootstrap.css">
<script src="ext/ext-dev.js"></script>
<script src="bootstrap.js"></script>
<!-- </x-bootstrap> -->
<script src="app.js"></script>
<!-- </x-compile> -->
</head>
<body></body>
</html>
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//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.34011
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
namespace BodyIndexTextureSample.Properties
{
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
{
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
public static Settings Default
{
get
{
return defaultInstance;
}
}
}
}
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using System;
using System.Collections.Generic;
using System.Xml.Serialization;
using System.Text;
using System.IO;
namespace Amazon.AutoScaling.Model
{
/// <summary>
/// <para> </para>
/// </summary>
public class DescribeTagsResult
{
private List<TagDescription> tags = new List<TagDescription>();
private string nextToken;
/// <summary>
/// The list of tags.
///
/// </summary>
public List<TagDescription> Tags
{
get { return this.tags; }
set { this.tags = value; }
}
/// <summary>
/// Adds elements to the Tags collection
/// </summary>
/// <param name="tags">The values to add to the Tags collection </param>
/// <returns>this instance</returns>
[Obsolete("The With methods are obsolete and will be removed in version 2 of the AWS SDK for .NET. See http://aws.amazon.com/sdkfornet/#version2 for more information.")]
public DescribeTagsResult WithTags(params TagDescription[] tags)
{
foreach (TagDescription element in tags)
{
this.tags.Add(element);
}
return this;
}
/// <summary>
/// Adds elements to the Tags collection
/// </summary>
/// <param name="tags">The values to add to the Tags collection </param>
/// <returns>this instance</returns>
[Obsolete("The With methods are obsolete and will be removed in version 2 of the AWS SDK for .NET. See http://aws.amazon.com/sdkfornet/#version2 for more information.")]
public DescribeTagsResult WithTags(IEnumerable<TagDescription> tags)
{
foreach (TagDescription element in tags)
{
this.tags.Add(element);
}
return this;
}
// Check to see if Tags property is set
internal bool IsSetTags()
{
return this.tags.Count > 0;
}
/// <summary>
/// A string used to mark the start of the next batch of returned results.
///
/// <para>
/// <b>Constraints:</b>
/// <list type="definition">
/// <item>
/// <term>Pattern</term>
/// <description>[\u0020-\uD7FF\uE000-\uFFFD\uD800\uDC00-\uDBFF\uDFFF\r\n\t]*</description>
/// </item>
/// </list>
/// </para>
/// </summary>
public string NextToken
{
get { return this.nextToken; }
set { this.nextToken = value; }
}
/// <summary>
/// Sets the NextToken property
/// </summary>
/// <param name="nextToken">The value to set for the NextToken property </param>
/// <returns>this instance</returns>
[Obsolete("The With methods are obsolete and will be removed in version 2 of the AWS SDK for .NET. See http://aws.amazon.com/sdkfornet/#version2 for more information.")]
public DescribeTagsResult WithNextToken(string nextToken)
{
this.nextToken = nextToken;
return this;
}
// Check to see if NextToken property is set
internal bool IsSetNextToken()
{
return this.nextToken != null;
}
}
}
|
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|
namespace sh
{
// GLenum alias
typedef unsigned int GLenum;
}
// Must be included after GLenum proxy typedef
#include "ShaderVars.h"
#ifdef __cplusplus
extern "C" {
#endif
// Version number for shader translation API.
// It is incremented every time the API changes.
#define ANGLE_SH_VERSION 129
typedef enum {
SH_GLES2_SPEC = 0x8B40,
SH_WEBGL_SPEC = 0x8B41,
// The CSS Shaders spec is a subset of the WebGL spec.
//
// In both CSS vertex and fragment shaders, ANGLE:
// (1) Reserves the "css_" prefix.
// (2) Renames the main function to css_main.
// (3) Disables the gl_MaxDrawBuffers built-in.
//
// In CSS fragment shaders, ANGLE:
// (1) Disables the gl_FragColor built-in.
// (2) Disables the gl_FragData built-in.
// (3) Enables the css_MixColor built-in.
// (4) Enables the css_ColorMatrix built-in.
//
// After passing a CSS shader through ANGLE, the browser is expected to append
// a new main function to it.
// This new main function will call the css_main function.
// It may also perform additional operations like varying assignment, texture
// access, and gl_FragColor assignment in order to implement the CSS Shaders
// blend modes.
//
SH_CSS_SHADERS_SPEC = 0x8B42
} ShShaderSpec;
typedef enum {
SH_ESSL_OUTPUT = 0x8B45,
SH_GLSL_OUTPUT = 0x8B46,
SH_HLSL_OUTPUT = 0x8B47,
SH_HLSL9_OUTPUT = 0x8B47,
SH_HLSL11_OUTPUT = 0x8B48
} ShShaderOutput;
typedef enum {
SH_PRECISION_HIGHP = 0x5001,
SH_PRECISION_MEDIUMP = 0x5002,
SH_PRECISION_LOWP = 0x5003,
SH_PRECISION_UNDEFINED = 0
} ShPrecisionType;
typedef enum {
SH_INFO_LOG_LENGTH = 0x8B84,
SH_OBJECT_CODE_LENGTH = 0x8B88, // GL_SHADER_SOURCE_LENGTH
SH_ACTIVE_UNIFORMS = 0x8B86,
SH_ACTIVE_UNIFORM_MAX_LENGTH = 0x8B87,
SH_ACTIVE_ATTRIBUTES = 0x8B89,
SH_ACTIVE_ATTRIBUTE_MAX_LENGTH = 0x8B8A,
SH_VARYINGS = 0x8BBB,
SH_VARYING_MAX_LENGTH = 0x8BBC,
SH_MAPPED_NAME_MAX_LENGTH = 0x6000,
SH_NAME_MAX_LENGTH = 0x6001,
SH_HASHED_NAME_MAX_LENGTH = 0x6002,
SH_HASHED_NAMES_COUNT = 0x6003,
SH_SHADER_VERSION = 0x6004,
SH_RESOURCES_STRING_LENGTH = 0x6005,
SH_OUTPUT_TYPE = 0x6006
} ShShaderInfo;
// Compile options.
typedef enum {
SH_VALIDATE = 0,
SH_VALIDATE_LOOP_INDEXING = 0x0001,
SH_INTERMEDIATE_TREE = 0x0002,
SH_OBJECT_CODE = 0x0004,
SH_VARIABLES = 0x0008,
SH_LINE_DIRECTIVES = 0x0010,
SH_SOURCE_PATH = 0x0020,
SH_UNROLL_FOR_LOOP_WITH_INTEGER_INDEX = 0x0040,
// If a sampler array index happens to be a loop index,
// 1) if its type is integer, unroll the loop.
// 2) if its type is float, fail the shader compile.
// This is to work around a mac driver bug.
SH_UNROLL_FOR_LOOP_WITH_SAMPLER_ARRAY_INDEX = 0x0080,
// This is needed only as a workaround for certain OpenGL driver bugs.
SH_EMULATE_BUILT_IN_FUNCTIONS = 0x0100,
// This is an experimental flag to enforce restrictions that aim to prevent
// timing attacks.
// It generates compilation errors for shaders that could expose sensitive
// texture information via the timing channel.
// To use this flag, you must compile the shader under the WebGL spec
// (using the SH_WEBGL_SPEC flag).
SH_TIMING_RESTRICTIONS = 0x0200,
// This flag prints the dependency graph that is used to enforce timing
// restrictions on fragment shaders.
// This flag only has an effect if all of the following are true:
// - The shader spec is SH_WEBGL_SPEC.
// - The compile options contain the SH_TIMING_RESTRICTIONS flag.
// - The shader type is GL_FRAGMENT_SHADER.
SH_DEPENDENCY_GRAPH = 0x0400,
// Enforce the GLSL 1.017 Appendix A section 7 packing restrictions.
// This flag only enforces (and can only enforce) the packing
// restrictions for uniform variables in both vertex and fragment
// shaders. ShCheckVariablesWithinPackingLimits() lets embedders
// enforce the packing restrictions for varying variables during
// program link time.
SH_ENFORCE_PACKING_RESTRICTIONS = 0x0800,
// This flag ensures all indirect (expression-based) array indexing
// is clamped to the bounds of the array. This ensures, for example,
// that you cannot read off the end of a uniform, whether an array
// vec234, or mat234 type. The ShArrayIndexClampingStrategy enum,
// specified in the ShBuiltInResources when constructing the
// compiler, selects the strategy for the clamping implementation.
SH_CLAMP_INDIRECT_ARRAY_BOUNDS = 0x1000,
// This flag limits the complexity of an expression.
SH_LIMIT_EXPRESSION_COMPLEXITY = 0x2000,
// This flag limits the depth of the call stack.
SH_LIMIT_CALL_STACK_DEPTH = 0x4000,
// This flag initializes gl_Position to vec4(0,0,0,0) at the
// beginning of the vertex shader's main(), and has no effect in the
// fragment shader. It is intended as a workaround for drivers which
// incorrectly fail to link programs if gl_Position is not written.
SH_INIT_GL_POSITION = 0x8000,
// This flag replaces
// "a && b" with "a ? b : false",
// "a || b" with "a ? true : b".
// This is to work around a MacOSX driver bug that |b| is executed
// independent of |a|'s value.
SH_UNFOLD_SHORT_CIRCUIT = 0x10000,
// This flag initializes varyings without static use in vertex shader
// at the beginning of main(), and has no effects in the fragment shader.
// It is intended as a workaround for drivers which incorrectly optimize
// out such varyings and cause a link failure.
SH_INIT_VARYINGS_WITHOUT_STATIC_USE = 0x20000,
// This flag scalarizes vec/ivec/bvec/mat constructor args.
// It is intended as a workaround for Linux/Mac driver bugs.
SH_SCALARIZE_VEC_AND_MAT_CONSTRUCTOR_ARGS = 0x40000,
// This flag overwrites a struct name with a unique prefix.
// It is intended as a workaround for drivers that do not handle
// struct scopes correctly, including all Mac drivers and Linux AMD.
SH_REGENERATE_STRUCT_NAMES = 0x80000,
} ShCompileOptions;
// Defines alternate strategies for implementing array index clamping.
typedef enum {
// Use the clamp intrinsic for array index clamping.
SH_CLAMP_WITH_CLAMP_INTRINSIC = 1,
// Use a user-defined function for array index clamping.
SH_CLAMP_WITH_USER_DEFINED_INT_CLAMP_FUNCTION
} ShArrayIndexClampingStrategy;
//
// Driver must call this first, once, before doing any other
// compiler operations.
// If the function succeeds, the return value is nonzero, else zero.
//
COMPILER_EXPORT int ShInitialize();
//
// Driver should call this at shutdown.
// If the function succeeds, the return value is nonzero, else zero.
//
COMPILER_EXPORT int ShFinalize();
// The 64 bits hash function. The first parameter is the input string; the
// second parameter is the string length.
typedef khronos_uint64_t (*ShHashFunction64)(const char*, size_t);
//
// Implementation dependent built-in resources (constants and extensions).
// The names for these resources has been obtained by stripping gl_/GL_.
//
typedef struct
{
// Constants.
int MaxVertexAttribs;
int MaxVertexUniformVectors;
int MaxVaryingVectors;
int MaxVertexTextureImageUnits;
int MaxCombinedTextureImageUnits;
int MaxTextureImageUnits;
int MaxFragmentUniformVectors;
int MaxDrawBuffers;
// Extensions.
// Set to 1 to enable the extension, else 0.
int OES_standard_derivatives;
int OES_EGL_image_external;
int ARB_texture_rectangle;
int EXT_draw_buffers;
int EXT_frag_depth;
int EXT_shader_texture_lod;
// Set to 1 if highp precision is supported in the fragment language.
// Default is 0.
int FragmentPrecisionHigh;
// GLSL ES 3.0 constants.
int MaxVertexOutputVectors;
int MaxFragmentInputVectors;
int MinProgramTexelOffset;
int MaxProgramTexelOffset;
// Name Hashing.
// Set a 64 bit hash function to enable user-defined name hashing.
// Default is NULL.
ShHashFunction64 HashFunction;
// Selects a strategy to use when implementing array index clamping.
// Default is SH_CLAMP_WITH_CLAMP_INTRINSIC.
ShArrayIndexClampingStrategy ArrayIndexClampingStrategy;
// The maximum complexity an expression can be.
int MaxExpressionComplexity;
// The maximum depth a call stack can be.
int MaxCallStackDepth;
} ShBuiltInResources;
//
// Initialize built-in resources with minimum expected values.
//
COMPILER_EXPORT void ShInitBuiltInResources(ShBuiltInResources* resources);
//
// ShHandle held by but opaque to the driver. It is allocated,
// managed, and de-allocated by the compiler. Its contents
// are defined by and used by the compiler.
//
// If handle creation fails, 0 will be returned.
//
typedef void* ShHandle;
//
// Returns the a concatenated list of the items in ShBuiltInResources as a string.
// This function must be updated whenever ShBuiltInResources is changed.
// Parameters:
// handle: Specifies the handle of the compiler to be used.
// outStringLen: Specifies the size of the buffer, in number of characters. The size
// of the buffer required to store the resources string can be obtained
// by calling ShGetInfo with SH_RESOURCES_STRING_LENGTH.
// outStr: Returns a null-terminated string representing all the built-in resources.
COMPILER_EXPORT void ShGetBuiltInResourcesString(const ShHandle handle, size_t outStringLen, char *outStr);
//
// Driver calls these to create and destroy compiler objects.
//
// Returns the handle of constructed compiler, null if the requested compiler is
// not supported.
// Parameters:
// type: Specifies the type of shader - GL_FRAGMENT_SHADER or GL_VERTEX_SHADER.
// spec: Specifies the language spec the compiler must conform to -
// SH_GLES2_SPEC or SH_WEBGL_SPEC.
// output: Specifies the output code type - SH_ESSL_OUTPUT, SH_GLSL_OUTPUT,
// SH_HLSL9_OUTPUT or SH_HLSL11_OUTPUT.
// resources: Specifies the built-in resources.
COMPILER_EXPORT ShHandle ShConstructCompiler(
sh::GLenum type,
ShShaderSpec spec,
ShShaderOutput output,
const ShBuiltInResources* resources);
COMPILER_EXPORT void ShDestruct(ShHandle handle);
//
// Compiles the given shader source.
// If the function succeeds, the return value is nonzero, else zero.
// Parameters:
// handle: Specifies the handle of compiler to be used.
// shaderStrings: Specifies an array of pointers to null-terminated strings
// containing the shader source code.
// numStrings: Specifies the number of elements in shaderStrings array.
// compileOptions: A mask containing the following parameters:
// SH_VALIDATE: Validates shader to ensure that it conforms to the spec
// specified during compiler construction.
// SH_VALIDATE_LOOP_INDEXING: Validates loop and indexing in the shader to
// ensure that they do not exceed the minimum
// functionality mandated in GLSL 1.0 spec,
// Appendix A, Section 4 and 5.
// There is no need to specify this parameter when
// compiling for WebGL - it is implied.
// SH_INTERMEDIATE_TREE: Writes intermediate tree to info log.
// Can be queried by calling ShGetInfoLog().
// SH_OBJECT_CODE: Translates intermediate tree to glsl or hlsl shader.
// Can be queried by calling ShGetObjectCode().
// SH_VARIABLES: Extracts attributes, uniforms, and varyings.
// Can be queried by calling ShGetVariableInfo().
//
COMPILER_EXPORT int ShCompile(
const ShHandle handle,
const char* const shaderStrings[],
size_t numStrings,
int compileOptions
);
// Returns a parameter from a compiled shader.
// Parameters:
// handle: Specifies the compiler
// pname: Specifies the parameter to query.
// The following parameters are defined:
// SH_INFO_LOG_LENGTH: the number of characters in the information log
// including the null termination character.
// SH_OBJECT_CODE_LENGTH: the number of characters in the object code
// including the null termination character.
// SH_ACTIVE_ATTRIBUTES: the number of active attribute variables.
// SH_ACTIVE_ATTRIBUTE_MAX_LENGTH: the length of the longest active attribute
// variable name including the null
// termination character.
// SH_ACTIVE_UNIFORMS: the number of active uniform variables.
// SH_ACTIVE_UNIFORM_MAX_LENGTH: the length of the longest active uniform
// variable name including the null
// termination character.
// SH_VARYINGS: the number of varying variables.
// SH_VARYING_MAX_LENGTH: the length of the longest varying variable name
// including the null termination character.
// SH_MAPPED_NAME_MAX_LENGTH: the length of the mapped variable name including
// the null termination character.
// SH_NAME_MAX_LENGTH: the max length of a user-defined name including the
// null termination character.
// SH_HASHED_NAME_MAX_LENGTH: the max length of a hashed name including the
// null termination character.
// SH_HASHED_NAMES_COUNT: the number of hashed names from the latest compile.
// SH_SHADER_VERSION: the version of the shader language
// SH_OUTPUT_TYPE: the currently set language output type
//
// params: Requested parameter
COMPILER_EXPORT void ShGetInfo(const ShHandle handle,
ShShaderInfo pname,
size_t* params);
// Returns nul-terminated information log for a compiled shader.
// Parameters:
// handle: Specifies the compiler
// infoLog: Specifies an array of characters that is used to return
// the information log. It is assumed that infoLog has enough memory
// to accomodate the information log. The size of the buffer required
// to store the returned information log can be obtained by calling
// ShGetInfo with SH_INFO_LOG_LENGTH.
COMPILER_EXPORT void ShGetInfoLog(const ShHandle handle, char* infoLog);
// Returns null-terminated object code for a compiled shader.
// Parameters:
// handle: Specifies the compiler
// infoLog: Specifies an array of characters that is used to return
// the object code. It is assumed that infoLog has enough memory to
// accomodate the object code. The size of the buffer required to
// store the returned object code can be obtained by calling
// ShGetInfo with SH_OBJECT_CODE_LENGTH.
COMPILER_EXPORT void ShGetObjectCode(const ShHandle handle, char* objCode);
// Returns information about a shader variable.
// Parameters:
// handle: Specifies the compiler
// variableType: Specifies the variable type; options include
// SH_ACTIVE_ATTRIBUTES, SH_ACTIVE_UNIFORMS, SH_VARYINGS.
// index: Specifies the index of the variable to be queried.
// length: Returns the number of characters actually written in the string
// indicated by name (excluding the null terminator) if a value other
// than NULL is passed.
// size: Returns the size of the variable.
// type: Returns the data type of the variable.
// precision: Returns the precision of the variable.
// staticUse: Returns 1 if the variable is accessed in a statement after
// pre-processing, whether or not run-time flow of control will
// cause that statement to be executed.
// Returns 0 otherwise.
// name: Returns a null terminated string containing the name of the
// variable. It is assumed that name has enough memory to accormodate
// the variable name. The size of the buffer required to store the
// variable name can be obtained by calling ShGetInfo with
// SH_ACTIVE_ATTRIBUTE_MAX_LENGTH, SH_ACTIVE_UNIFORM_MAX_LENGTH,
// SH_VARYING_MAX_LENGTH.
// mappedName: Returns a null terminated string containing the mapped name of
// the variable, It is assumed that mappedName has enough memory
// (SH_MAPPED_NAME_MAX_LENGTH), or NULL if don't care about the
// mapped name. If the name is not mapped, then name and mappedName
// are the same.
COMPILER_EXPORT void ShGetVariableInfo(const ShHandle handle,
ShShaderInfo variableType,
int index,
size_t* length,
int* size,
sh::GLenum* type,
ShPrecisionType* precision,
int* staticUse,
char* name,
char* mappedName);
// Returns information about a name hashing entry from the latest compile.
// Parameters:
// handle: Specifies the compiler
// index: Specifies the index of the name hashing entry to be queried.
// name: Returns a null terminated string containing the user defined name.
// It is assumed that name has enough memory to accomodate the name.
// The size of the buffer required to store the user defined name can
// be obtained by calling ShGetInfo with SH_NAME_MAX_LENGTH.
// hashedName: Returns a null terminated string containing the hashed name of
// the uniform variable, It is assumed that hashedName has enough
// memory to accomodate the name. The size of the buffer required
// to store the name can be obtained by calling ShGetInfo with
// SH_HASHED_NAME_MAX_LENGTH.
COMPILER_EXPORT void ShGetNameHashingEntry(const ShHandle handle,
int index,
char* name,
char* hashedName);
// Shader variable inspection.
// Returns a pointer to a list of variables of the designated type.
// (See ShaderVars.h for type definitions, included above)
// Returns NULL on failure.
// Parameters:
// handle: Specifies the compiler
COMPILER_EXPORT const std::vector<sh::Uniform> *ShGetUniforms(const ShHandle handle);
COMPILER_EXPORT const std::vector<sh::Varying> *ShGetVaryings(const ShHandle handle);
COMPILER_EXPORT const std::vector<sh::Attribute> *ShGetAttributes(const ShHandle handle);
COMPILER_EXPORT const std::vector<sh::Attribute> *ShGetOutputVariables(const ShHandle handle);
COMPILER_EXPORT const std::vector<sh::InterfaceBlock> *ShGetInterfaceBlocks(const ShHandle handle);
typedef struct
{
sh::GLenum type;
int size;
} ShVariableInfo;
// Returns 1 if the passed in variables pack in maxVectors following
// the packing rules from the GLSL 1.017 spec, Appendix A, section 7.
// Returns 0 otherwise. Also look at the SH_ENFORCE_PACKING_RESTRICTIONS
// flag above.
// Parameters:
// maxVectors: the available rows of registers.
// varInfoArray: an array of variable info (types and sizes).
// varInfoArraySize: the size of the variable array.
COMPILER_EXPORT int ShCheckVariablesWithinPackingLimits(
int maxVectors,
ShVariableInfo* varInfoArray,
size_t varInfoArraySize);
// Gives the compiler-assigned register for an interface block.
// The method writes the value to the output variable "indexOut".
// Returns true if it found a valid interface block, false otherwise.
// Parameters:
// handle: Specifies the compiler
// interfaceBlockName: Specifies the interface block
// indexOut: output variable that stores the assigned register
COMPILER_EXPORT bool ShGetInterfaceBlockRegister(const ShHandle handle,
const char *interfaceBlockName,
unsigned int *indexOut);
// Gives the compiler-assigned register for uniforms in the default
// interface block.
// The method writes the value to the output variable "indexOut".
// Returns true if it found a valid default uniform, false otherwise.
// Parameters:
// handle: Specifies the compiler
// interfaceBlockName: Specifies the uniform
// indexOut: output variable that stores the assigned register
COMPILER_EXPORT bool ShGetUniformRegister(const ShHandle handle,
const char *uniformName,
unsigned int *indexOut);
#ifdef __cplusplus
}
#endif
#endif // _COMPILER_INTERFACE_INCLUDED_
|
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|
import * as Constants from '../../common/constants';
import { Issue } from './../../common/model';
import { RemoteDataState } from '../../redux/remoteData';
import { find } from 'lodash';
/**
* Formats the location for the back end as
* specified in report.go in the 5calls/5calls repo.
* The format is either zip code or geolocation (lat/long)
* with all other location representations formatted
* as an empty string.
*
* @param location the location stored in locationState.address
*/
export const formatLocationForBackEnd = (location: string | null | undefined): string => {
if (!location) {
return '';
}
const zipRegex: RegExp = Constants.zipCodeRegex;
// Geolocation contains latitude and logitude which are
// two negative or positive floating point numbers
// separated by one or more spaces.
// First regex group is the latitude
// Second regex group is the longitude
const geolocationRegex: RegExp = /^([-]?\d+\.\d+)\s+([-]?\d+\.\d+)$/;
if (zipRegex.test(location)) {
return location;
} else if (geolocationRegex.test(location)) {
// parse out lat and long
const match = geolocationRegex.exec(location);
if (match) {
// TODO: Format floating point numbers
// to 2 places as specified in report.go
return `${match[1]} ${match[2]}`;
}
}
return '';
};
export const isNumber = (maybeNumber: number | string) => {
const num = Number(maybeNumber);
// Handle undefined input.
// Number(undefined) is NaN, while Number("") is 0
return isNaN(num) ? 0 : num;
};
export const formatNumber = (unformattedNumber: number | string) => {
const num = isNumber(unformattedNumber);
// Number.toLocaleString() doesn't work on Safari 9 (see https://github.com/5calls/5calls/issues/197)
// tslint:disable-next-line:no-string-literal
if (window['Intl'] && typeof Intl.NumberFormat === 'function') {
return num.toLocaleString();
} else {
// As a fallback, use a quick-and-dirty regex to insert commas.
// When in doubt, get code from stackoverflow: http://stackoverflow.com/a/2901298/7542666
return num.toString().replace(/\B(?=(\d{3})+(?!\d))/g, ',');
}
};
export const getIssue = (remoteDataState: RemoteDataState, issueId: string): Issue | undefined => {
if (remoteDataState.issues) {
const currentActiveIssue = find(remoteDataState.issues, (i => i.id === issueId || i.slug === issueId));
if (currentActiveIssue) {
return currentActiveIssue;
}
}
if (remoteDataState.inactiveIssues) {
const currentInactiveIssue = find(remoteDataState.inactiveIssues, (i => i.id === issueId || i.slug === issueId));
if (currentInactiveIssue) {
return currentInactiveIssue;
}
}
if (remoteDataState.groupIssues) {
const currentGroupIssue = find(remoteDataState.groupIssues, (i => i.id === issueId || i.slug === issueId));
if (currentGroupIssue) {
return currentGroupIssue;
}
}
return undefined;
};
|
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|
curl -LS https://pecl.php.net/get/ev | tar -xz;
pushd ev-*;
phpize;
./configure;
make;
make install;
popd;
echo "extension=ev.so" >> "$(php -r 'echo php_ini_loaded_file();')";
|
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|
<?php
/**
* Zend_Exception
*/
// require_once 'Zend/Exception.php';
/**
* @category Zend
* @package Zend_Rest
* @copyright Copyright (c) 2005-2012 Zend Technologies USA Inc. (http://www.zend.com)
* @license http://framework.zend.com/license/new-bsd New BSD License
*/
class Zend_Rest_Exception extends Zend_Exception
{}
|
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},
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},
{
"name": "XSLT",
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}
]
}
|
Copyright (c) 2016 Chong Ting Wai
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
the Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
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|
/**
* @file
**/
#include "modules/planning/common/trajectory_stitcher.h"
#include <algorithm>
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/math/angle.h"
#include "modules/common/math/quaternion.h"
#include "modules/common/util/util.h"
#include "modules/common/vehicle_model/vehicle_model.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
using apollo::common::TrajectoryPoint;
using apollo::common::VehicleModel;
using apollo::common::VehicleState;
using apollo::common::math::Vec2d;
TrajectoryPoint TrajectoryStitcher::ComputeTrajectoryPointFromVehicleState(
const VehicleState& vehicle_state) {
TrajectoryPoint point;
point.mutable_path_point()->set_s(0.0);
point.mutable_path_point()->set_x(vehicle_state.x());
point.mutable_path_point()->set_y(vehicle_state.y());
point.mutable_path_point()->set_z(vehicle_state.z());
point.mutable_path_point()->set_theta(vehicle_state.heading());
point.mutable_path_point()->set_kappa(vehicle_state.kappa());
point.set_v(vehicle_state.linear_velocity());
point.set_a(vehicle_state.linear_acceleration());
point.set_relative_time(0.0);
return point;
}
std::vector<TrajectoryPoint>
TrajectoryStitcher::ComputeReinitStitchingTrajectory(
const double planning_cycle_time, const VehicleState& vehicle_state) {
TrajectoryPoint reinit_point;
constexpr double kEpsilon = 1e-2;
if (std::abs(vehicle_state.linear_velocity()) < kEpsilon &&
std::abs(vehicle_state.linear_acceleration()) < kEpsilon) {
reinit_point = ComputeTrajectoryPointFromVehicleState(vehicle_state);
} else {
VehicleState predicted_vehicle_state;
predicted_vehicle_state =
VehicleModel::Predict(planning_cycle_time, vehicle_state);
reinit_point =
ComputeTrajectoryPointFromVehicleState(predicted_vehicle_state);
}
return std::vector<TrajectoryPoint>(1, reinit_point);
}
// only used in navigation mode
void TrajectoryStitcher::TransformLastPublishedTrajectory(
const double x_diff, const double y_diff, const double theta_diff,
PublishableTrajectory* prev_trajectory) {
if (!prev_trajectory) {
return;
}
// R^-1
double cos_theta = std::cos(theta_diff);
double sin_theta = -std::sin(theta_diff);
// -R^-1 * t
auto tx = -(cos_theta * x_diff - sin_theta * y_diff);
auto ty = -(sin_theta * x_diff + cos_theta * y_diff);
std::for_each(prev_trajectory->begin(), prev_trajectory->end(),
[&cos_theta, &sin_theta, &tx, &ty,
&theta_diff](common::TrajectoryPoint& p) {
auto x = p.path_point().x();
auto y = p.path_point().y();
auto theta = p.path_point().theta();
auto x_new = cos_theta * x - sin_theta * y + tx;
auto y_new = sin_theta * x + cos_theta * y + ty;
auto theta_new = common::math::WrapAngle(theta - theta_diff);
p.mutable_path_point()->set_x(x_new);
p.mutable_path_point()->set_y(y_new);
p.mutable_path_point()->set_theta(theta_new);
});
}
/* Planning from current vehicle state if:
1. the auto-driving mode is off
(or) 2. we don't have the trajectory from last planning cycle
(or) 3. the position deviation from actual and target is too high
*/
std::vector<TrajectoryPoint> TrajectoryStitcher::ComputeStitchingTrajectory(
const VehicleState& vehicle_state, const double current_timestamp,
const double planning_cycle_time,
const PublishableTrajectory* prev_trajectory, std::string* replan_reason) {
if (!FLAGS_enable_trajectory_stitcher) {
*replan_reason = "stitch is disabled by gflag.";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
if (!prev_trajectory) {
*replan_reason = "replan for no previous trajectory.";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
if (vehicle_state.driving_mode() != canbus::Chassis::COMPLETE_AUTO_DRIVE) {
*replan_reason = "replan for manual mode.";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
size_t prev_trajectory_size = prev_trajectory->NumOfPoints();
if (prev_trajectory_size == 0) {
ADEBUG << "Projected trajectory at time [" << prev_trajectory->header_time()
<< "] size is zero! Previous planning not exist or failed. Use "
"origin car status instead.";
*replan_reason = "replan for empty previous trajectory.";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
const double veh_rel_time =
current_timestamp - prev_trajectory->header_time();
size_t time_matched_index =
prev_trajectory->QueryLowerBoundPoint(veh_rel_time);
if (time_matched_index == 0 &&
veh_rel_time < prev_trajectory->StartPoint().relative_time()) {
AWARN << "current time smaller than the previous trajectory's first time";
*replan_reason =
"replan for current time smaller than the previous trajectory's first "
"time.";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
if (time_matched_index + 1 >= prev_trajectory_size) {
AWARN << "current time beyond the previous trajectory's last time";
*replan_reason =
"replan for current time beyond the previous trajectory's last time";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
auto time_matched_point = prev_trajectory->TrajectoryPointAt(
static_cast<uint32_t>(time_matched_index));
if (!time_matched_point.has_path_point()) {
*replan_reason = "replan for previous trajectory missed path point";
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
size_t position_matched_index = prev_trajectory->QueryNearestPointWithBuffer(
{vehicle_state.x(), vehicle_state.y()}, 1.0e-6);
auto frenet_sd = ComputePositionProjection(
vehicle_state.x(), vehicle_state.y(),
prev_trajectory->TrajectoryPointAt(
static_cast<uint32_t>(position_matched_index)));
auto lon_diff = time_matched_point.path_point().s() - frenet_sd.first;
auto lat_diff = frenet_sd.second;
ADEBUG << "Control lateral diff: " << lat_diff
<< ", longitudinal diff: " << lon_diff;
if (std::fabs(lat_diff) > FLAGS_replan_lateral_distance_threshold) {
std::string msg(
"the distance between matched point and actual position is too "
"large. Replan is triggered. lat_diff = " +
std::to_string(lat_diff));
AERROR << msg;
*replan_reason = msg;
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
if (std::fabs(lon_diff) > FLAGS_replan_longitudinal_distance_threshold) {
std::string msg(
"the distance between matched point and actual position is too "
"large. Replan is triggered. lon_diff = " +
std::to_string(lon_diff));
AERROR << msg;
*replan_reason = msg;
return ComputeReinitStitchingTrajectory(planning_cycle_time, vehicle_state);
}
double forward_rel_time =
prev_trajectory
->TrajectoryPointAt(static_cast<uint32_t>(time_matched_index))
.relative_time() +
planning_cycle_time;
size_t forward_time_index =
prev_trajectory->QueryLowerBoundPoint(forward_rel_time);
ADEBUG << "Position matched index:\t" << position_matched_index;
ADEBUG << "Time matched index:\t" << time_matched_index;
auto matched_index = std::min(time_matched_index, position_matched_index);
constexpr size_t kNumPreCyclePoint = 20;
std::vector<TrajectoryPoint> stitching_trajectory(
prev_trajectory->begin() +
std::max(0, static_cast<int>(matched_index - kNumPreCyclePoint)),
prev_trajectory->begin() + forward_time_index + 1);
ADEBUG << "stitching_trajectory size: " << stitching_trajectory.size();
const double zero_s = stitching_trajectory.back().path_point().s();
for (auto& tp : stitching_trajectory) {
if (!tp.has_path_point()) {
*replan_reason = "replan for previous trajectory missed path point";
return ComputeReinitStitchingTrajectory(planning_cycle_time,
vehicle_state);
}
tp.set_relative_time(tp.relative_time() + prev_trajectory->header_time() -
current_timestamp);
tp.mutable_path_point()->set_s(tp.path_point().s() - zero_s);
}
return stitching_trajectory;
}
std::pair<double, double> TrajectoryStitcher::ComputePositionProjection(
const double x, const double y, const TrajectoryPoint& p) {
Vec2d v(x - p.path_point().x(), y - p.path_point().y());
Vec2d n(common::math::cos(
common::math::Angle16::from_rad(p.path_point().theta())),
common::math::sin(
common::math::Angle16::from_rad(p.path_point().theta())));
std::pair<double, double> frenet_sd;
frenet_sd.first = v.InnerProd(n) + p.path_point().s();
frenet_sd.second = v.CrossProd(n);
return frenet_sd;
}
} // namespace planning
} // namespace apollo
|
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|
/*
* (C) 2007-2012 Alibaba Group Holding Limited.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* 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 com.taobao.gecko.core.util;
import java.io.Serializable;
import java.util.AbstractSet;
import java.util.Collection;
import java.util.Iterator;
import java.util.Map;
import java.util.Set;
/**
* A {@link Map}-backed {@link Set}.
*
* @author The Apache MINA Project (dev@mina.apache.org)
* @version $Rev: 597692 $, $Date: 2007-11-23 08:56:32 -0700 (Fri, 23 Nov 2007) $
*/
public class MapBackedSet<E> extends AbstractSet<E> implements Serializable {
private static final long serialVersionUID = -8347878570391674042L;
protected final Map<E, Boolean> map;
public MapBackedSet(Map<E, Boolean> map) {
this.map = map;
}
public MapBackedSet(Map<E, Boolean> map, Collection<E> c) {
this.map = map;
addAll(c);
}
@Override
public int size() {
return map.size();
}
@Override
public boolean contains(Object o) {
return map.containsKey(o);
}
@Override
public Iterator<E> iterator() {
return map.keySet().iterator();
}
@Override
public boolean add(E o) {
return map.put(o, Boolean.TRUE) == null;
}
@Override
public boolean remove(Object o) {
return map.remove(o) != null;
}
@Override
public void clear() {
map.clear();
}
}
|
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}
|
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