本文整理汇总了C++中Movement::parent方法的典型用法代码示例。如果您正苦于以下问题：C++ Movement::parent方法的具体用法？C++ Movement::parent怎么用？C++ Movement::parent使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Movement的用法示例。
在下文中一共展示了Movement::parent方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: addCollisions
/*
* s_j + r CT + 2*|R| CT (3-c_{i,j}^{k1,k2,r}-m_i^k1-m_j^k2) \geq s_i + d_i (16)
* s_i + 2*|R| CT (2+c_{i,j}^{k1,k2,r}-m_i^k1-m_j^k2) \geq s_j + d_j + r CT (17)
*/
void ConstraintsGenerator::addCollisions(const map1to1& s, const map1to1& d, const map2to1& x, const map2to1& y, const map4toN& c) {
assert(mRobots.size() > 1 && mLine != nullptr && "More than one robot expected!");
for (const pair<ActivityMode*, ActivityMode*>& col : mLine->collisions()) {
int32_t numberOfRobots = mRobots.size();
for (int32_t r = -numberOfRobots; r <= numberOfRobots; ++r) {
Operator op = GREATER_EQUAL;
SparseMatrix<double>::Row row;
double constVal = 2.0*numberOfRobots*mCycleTime;
double b1 = -3.0*constVal-r*mCycleTime, b2 = -2.0*constVal+r*mCycleTime;
uint32_t a[2], m[2], i = 0;
for (ActivityMode* mode : {col.first, col.second}) {
Movement *mv = dynamic_cast<Movement*>(mode);
if (mv != nullptr) {
DynamicActivity *da = mv->parent();
a[i] = da->aid(); m[i] = mv->mid();
row.emplace_back(getValue(y, {a[i], m[i]}, caller()), -constVal);
}
Location *loc = dynamic_cast<Location*>(mode);
if (loc != nullptr) {
StaticActivity *sa = loc->parent();
a[i] = sa->aid(); m[i] = loc->lid();
row.emplace_back(getValue(x, {a[i], loc->point()}, caller()), -constVal);
}
++i;
}
SparseMatrix<double>::Row row1 = row, row2 = row;
const vector<uint32_t>& v = getValue(c, {pack(a[0], m[0]), pack(a[1], m[1])}, caller());
row1.insert(row1.end(), {{getValue(s, a[1], caller()), 1.0}, {getValue(s, a[0], caller()), -1.0}, {getValue(d, a[0], caller()), -1.0}, {v[r+numberOfRobots], -constVal}});
row2.insert(row2.end(), {{getValue(s, a[0], caller()), 1.0}, {getValue(s, a[1], caller()), -1.0}, {getValue(d, a[1], caller()), -1.0}, {v[r+numberOfRobots], constVal}});
addConstraint(row1, op, b1, "(16$"+to_string(mConstraintsCounter++)+")");
addConstraint(row2, op, b2, "(17$"+to_string(mConstraintsCounter++)+")");
}
}
}