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Search_position.h
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Search_position.h
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#include "pch.h"
//g++ 5.4.0
#include <iostream>
#include <vector>
#include <queue>
#include <cmath>
#include <time.h>
#include <vecters.h>
#include <Gas.h>
#include <Mags_and_coils.h>
using namespace std;
#define MIN_ERROR_IN_VECTOR 1
// вектор из пар вектеров vector<vecter, vecter>
// Из того, который прикреплен к сенсеру вычитаем данный полем
// Составить, то какая бы сатрица была если бы координата магнита была такая
// x1, x2 составить матрицу векторов, для каждого
struct Sensor {
vecter coordinates;
vecter value;
};
//IT WORKS ONLY IF POINT (0, 0, 0) IS IN OUR AREA AND ALSO IF IT IS A POINT!!!! OR (THE SAME) IF X AND Y AXIS HAVE (2*N + 1) POINTS
vector<vector<vecter>> SearchingCommonArea(vector<Electromagnet>& static_magnets) { //!!!!BH_correct
double overlap_left = 0;
double overlap_right = 0;
for (int i = 0; i < static_magnets.size(); ++i) {
double x_left = static_magnets[i].position.x_proj - static_magnets[i].Mag_field.size_x;
double x_right = static_magnets[i].position.x_proj + static_magnets[i].Mag_field.size_x;
if (overlap_left < x_left || i == 0){
overlap_left = x_left;
}
if (overlap_right > x_right || i == 0){
overlap_right = x_right;
}
}
vecter zero_vecter(0, 0, 0);
int length_x = static_cast<int>((overlap_right - overlap_left));
int length_y = static_magnets[0].Mag_field.size_y * 2;
vector<vector<vecter>> area(length_x, vector<vecter>(static_magnets[0].Mag_field.size_y, zero_vecter)); //!!!!BH_correct
for (int mag = 0; mag < static_magnets.size(); ++mag) {
if (fabs(static_magnets[mag].position.x_proj) - static_cast<int>(fabs(static_magnets[mag].position.x_proj)) < MIN_ERROR_IN_VECTOR) {
//NEED TO WORK WITH OVERLAP FOR EACH MAGNET HERE
///////////////////////////////////
// NEW CIRCLES!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
//////////////////////////////////
for (int y = -length_y / 2; y <= length_y / 2; ++y) { // may be static_cast too?
for (int x = static_cast<int>(max(overlap_left, static_magnets[mag].position.x_proj - static_magnets[mag].Mag_field.size_x));
x <= static_cast<int>(min(overlap_right, static_magnets[mag].position.x_proj + static_magnets[mag].Mag_field.size_x));
++x) {
int local_x = x + static_cast<int>(length_x / 2); // coordinate in common field
int local_y = y + static_cast<int>(length_y / 2); // ????????? Не уверен насчет направления поля (вверх\вниз).
// Тип не ясно, откуда считаем наше поле и нужно ли переворчаивать все y-вектора от магнитов и катушек?
if (local_x < 0) {
cout << "ERROR IN SEARCH_POSITION: FIELD IS NOT SYMMETRIC AND WE GET MINUS-COORDINATES (local_x = "
<< local_x << "\n mag = " << mag << "\n x = " << x << endl;
system("pause");
}
//area[local_x][local_y].z_proj += static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.z_proj;
//z-coordinate is not needed ?
if (x < 0) {
area[local_x][local_y].x_proj +=
static_magnets[mag].Mag_field.cells[-x][abs(y)].Mag_vec.x_proj * (-1);
} else {
area[local_x][local_y].x_proj +=
static_magnets[mag].Mag_field.cells[x][abs(y)].Mag_vec.x_proj;
}
if (y < 0) {
area[local_x][local_y].y_proj +=
static_magnets[mag].Mag_field.cells[abs(x)][-y].Mag_vec.y_proj * (-1);
} else {
area[local_x][local_y].y_proj +=
static_magnets[mag].Mag_field.cells[abs(x)][y].Mag_vec.y_proj;
}
}
}
///////////////////////////////////////////////
// THE END OF NEW CODE!!!!
///////////////////////////////////////////////
for (int y = 0; y < length_y; ++y) {
for (int x = 1; x < length_x - 1; ++x) {
int local_x = abs(x - static_cast<int>(static_magnets[mag].position.x_proj) - length_x / 2);
area[x][y].z_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.z_proj;
area[x][y].x_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.x_proj *
sign(static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.y_proj); //UNCORRECT
area[x][y].y_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.y_proj *
sign(static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.x_proj); //UNCORRECT
// Not exist in 3/4 part of area. We need to look it for from 1/4 part of area. DONE!
// IS SIGN WORK AS I WANT??? (-1, 0, 1) ??????????????? /// YES
// ATTENTION!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// ATTENTION!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// I AM NOT SURE, IF THIS CODE WORKS IN GOOD WAY WITH ZERO-COORDINATES,
// FOR EXAMPLE (X, 0) OR (0, Y).
// IN THESE COORDINATES SIGN CAN MAKE VECTORS TO (0, 0) AND THIS IS UNCORRECT!!!!!!!!!!!!!!!
// MAY BE WE NEEDN'T WORRY ABOUT IT, BECAUSE THE REAL ZERO (0) IN DOUBLE-FORMAT IS DIFFICULT TO GET.
// THANK YOU, AFTER YOU WILL THINK ABOUT IT AND GET NEW COMMENTS AND CORRECTIONS IN CODE!
// IF YOU HAVE QUESTIONS, WRITE HERE: denis.mitr99@mail.ru
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!????????????
}
}
} else {
double right_variation = fabs(static_magnets[mag].position.x_proj) - static_cast<int>(fabs(static_magnets[mag].position.x_proj));
double left_variation = 1 - right_variation;
for (int y = 0; y < length_y; ++y) {
for (int x = 1; x < length_x - 1; ++x) {
int local_x = 0; // The nearest point to (x, 0, 0) in our Area. Will be got below.
if (static_magnets[mag].position.x_proj > 0) {
local_x = abs(x - static_cast<int>(static_magnets[mag].position.x_proj) - length_x / 2);
area[x][y].z_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.z_proj;
area[x][y].x_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.x_proj *
sign(static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.y_proj) * right_variation + //UNCORRECT
static_magnets[mag].Mag_field.cells[local_x - 1][y].Mag_vec.x_proj *
sign(static_magnets[mag].Mag_field.cells[local_x - 1][y].Mag_vec.y_proj) * left_variation;//UNCORRECT
area[x][y].y_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.y_proj *
sign(static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.x_proj * right_variation + //UNCORRECT
static_magnets[mag].Mag_field.cells[local_x - 1][y].Mag_vec.x_proj * left_variation);
} else {
local_x = abs(x - static_cast<int>(static_magnets[mag].position.x_proj) - length_x / 2 + 1);
// (+ 1) in the end because of rounding of static_cast in less side
area[x][y].z_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.z_proj;
area[x][y].x_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.x_proj *
sign(static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.y_proj) * left_variation +
static_magnets[mag].Mag_field.cells[local_x + 1][y].Mag_vec.x_proj *
sign(static_magnets[mag].Mag_field.cells[local_x + 1][y].Mag_vec.y_proj) * right_variation;
area[x][y].y_proj +=
static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.y_proj *
sign(static_magnets[mag].Mag_field.cells[local_x][y].Mag_vec.x_proj * left_variation +
static_magnets[mag].Mag_field.cells[local_x + 1][y].Mag_vec.x_proj * right_variation);
// ATTENTION!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// WE ALSO HAVE SUCH PROBLEMS WITH SIGN HERE!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// ATTENTION!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
}
}
}
}
}
return area;
}
pair<double, double> First_Search_positition_magnet(vector<vector<vecter>>& area, vector<Magnet>& action_magnets, //!!!!BH_correct
vector<Sensor>& sensors, vector<vector<vector<vecter>>>& MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS
/*NEED TO MAKE AND SAVE THIS MATRIX FOR THE NEXT ITERATIONS!!!!!*/){
vector<vecter> sensors_coordinates_in_area(sensors.size());
int x_length = area.size();
int y_length = area[0].size();
int x_dist = area.size() / 2;
int y_dist = area[0].size() / 2;
for (int i = 0; i < sensors.size(); ++i) {
// (x_dist + x, y_dist - y, 0) - coordinates to get area's analog of vecter with sensor's coordinates
sensors_coordinates_in_area[i].x_proj = x_dist + sensors[i].coordinates.x_proj;
sensors_coordinates_in_area[i].y_proj = y_dist - sensors[i].coordinates.y_proj;
sensors_coordinates_in_area[i].z_proj = sensors[i].coordinates.z_proj;
}
vector<vecter> sensors_without_static_area(sensors.size());
for (int i = 0; i < sensors.size(); ++i){
sensors_without_static_area[i] = sensors[i].value - area[sensors_coordinates_in_area[i].x_proj][sensors_coordinates_in_area[i].y_proj];
}
//Create matrix of all places of magnets for each vecter in "sensors_without_static_area" to get the nearest vecter
vector<vector<vector<vecter>>> magnets_places(sensors_without_static_area.size(), vector<vector<vecter>>(x_length, vector<vecter>(x_length)));
for (int i = 0; i < sensors_without_static_area.size(); ++i) {
//vector<vector<vecter>> magnets_places(x_length, vector<vecter>(x_length));
for (int first_magnet = 0; first_magnet < x_length; ++first_magnet) {
for (int second_magnet = 0; second_magnet < x_length; ++second_magnet) {
//Get vecter from area from both magnets in this position (need to convert in new center (0, 0, 0))
magnets_places[i][first_magnet][second_magnet] =
action_magnets[0].Mag_field.cells[sensors_coordinates_in_area[i].x_proj - (first_magnet - x_dist)][sensors_coordinates_in_area[i].y_proj].Mag_vec +
action_magnets[1].Mag_field.cells[sensors_coordinates_in_area[i].x_proj - (second_magnet - x_dist)][sensors_coordinates_in_area[i].y_proj].Mag_vec;
}
}
}
// NEED TO SAVE FOR THE NEXT ITERATIONS!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS = magnets_places; // !!!!!!!!!!!!!!!!!!!!!!!!!!!
//`````````````````````````````````````````````````````````````````````````````
// + A* - algorithm for each founding of the nearest vecter
// We get aproximately the same results after getting coordinates of magnets from 1st iteration.
// We needn't do this algorithm on other iterations, because we will have a little bit different vecters in the nearest neighborhood.
double fst_magnet_total_x;
double snd_magnet_total_x;
vector<int> fst_magnet_x(magnets_places.size());
vector<int> snd_magnet_x(magnets_places.size());
for (int i = 0; i < magnets_places.size(); ++i) {
vecter curr_vec(0, 0, 0);
//queue<vecter> nearest_points;
// Idea: get center point and from it choose the shortest way to our point (answer) with the help of evristic of distance.
// If I need bool matrix? OR my matrix (magnets_place[i]) is guarantee linear?
// vector<vector<bool>> is_used(x_length, vector<bool>(x_length, false); // NEED?????????
//while (/*DO I HAVE func ABS IN VECTERS?*/ abs(curr_vec - sensors_without_static_area[i]) < MIN_DISTANCE_BTW_VECTERS) {
// //DO SMTH
//}
bool is_found = false;
double min_distance_in_iteration = MAX_DOUBLE;
for (int first_magnet = 0; first_magnet < x_length; ++first_magnet) {
for (int second_magnet = 0; second_magnet < x_length; ++second_magnet) {
double abs_vecters = (magnets_places[i][first_magnet][second_magnet] - sensors_without_static_area[i]).len();
if (/*DO I HAVE func ABS IN VECTERS?*/abs_vecters < MIN_DISTANCE_BTW_VECTERS) { // Yes: .len() //!!!!BH_correct
is_found = true;
min_distance_in_iteration = abs_vecters;
fst_magnet_x[i] = first_magnet;
snd_magnet_x[i] = second_magnet;
break;
} else {
if (min_distance_in_iteration > abs_vecters) {
min_distance_in_iteration = abs_vecters;
}
}
}
if (is_found) {
break;
}
}
if (!is_found){
cerr << "ATTENTION!!! ERROR : Vecter is not found in matrix. (31.07.2019)\n :( \n Hello, Boris, Denis, Anton, Maks and other! Dolbimsya!" << endl;
cerr << "Function: First_Search_positition_magnet\n";
cerr << "The nearest vecter has distance " << min_distance_in_iteration << endl;
System("pause");
}
}
pair<double, double> total = {0, 0};
for (int i = 0; i < magnets_places.size(); ++i) {
total.first += fst_magnet_x[i];
total.second += snd_magnet_x[i];
}
total.first /= magnets_places.size();
total.first -= x_dist;
total.second /= magnets_places.size();
total.second -= x_dist;
return total;
}
bool Compare(pair<pair<int, int>, double> left, pair<pair<int, int>, double> right){
return left.second > right.second;
}
pair<pair<int, int>, double> create_elem_for_queue(int fst_magnet, int snd_magnet, double sub_distance){
pair<int, int> our_coordinate (fst_magnet, snd_magnet);
pair<pair<int, int>, int> para(our_coordinate, sub_distance); //!!!!BH_correct
return para; //!!!!BH_correct
}
pair<double, double> Search_positition_magnet(double dtime, vector<vector<vecter>>& area, vector<Electromagnet>& magnets, vector<Sensor>& sensors, //!!!!BH_correct
vector<vector<vector<vecter>>>& MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS) {
vector<vecter> sensors_coordinates_in_area(sensors.size());
int x_length = area.size();
int y_length = area[0].size();
int x_dist = area.size() / 2;
int y_dist = area[0].size() / 2;
for (int i = 0; i < sensors.size(); ++i) {
// (x_dist + x, y_dist - y, 0) - coordinates to get area's analog of vecter with sensor's coordinates
sensors_coordinates_in_area[i].x_proj = x_dist + sensors[i].coordinates.x_proj;
sensors_coordinates_in_area[i].y_proj = y_dist - sensors[i].coordinates.y_proj;
sensors_coordinates_in_area[i].z_proj = sensors[i].coordinates.z_proj;
}
vector<vecter> sensors_without_static_area(sensors.size());
for (int i = 0; i < sensors.size(); ++i){
sensors_without_static_area[i] = sensors[i].value - area[sensors_coordinates_in_area[i].x_proj][sensors_coordinates_in_area[i].y_proj];
}
int delta_fst_magnet = static_cast<int>((fabs(magnets[0].speed.x_proj) + fabs(magnets[0].accel.x_proj) * dtime) * dtime); // MAX position changing of fst magnet during dtime
int delta_snd_magnet = static_cast<int>((fabs(magnets[1].speed.x_proj) + fabs(magnets[1].accel.x_proj) * dtime) * dtime); // MAX position changing of snd magnet during dtime
vector<vector<bool>> is_visit(x_length, vector<bool>(x_length, false));
// We needn't to do new matrix.
//vector<vector<vector<vecter>>> magnets_places(sensors_without_static_area.size(), vector<vector<vecter>>(delta_fst_magnet, vector<vecter>(delta_snd_magnet)));
int num_of_all_cells = x_length * x_length;
vector<int> fst_magnet_x(MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS.size());
vector<int> snd_magnet_x(MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS.size());
for (int i = 0; i < MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS.size(); ++i) {
priority_queue<pair<pair<int, int>, double>, vector<pair<pair<int, int>, double>>, bool(*)(pair<pair<int, int>, double>, pair<pair<int, int>, double>)> vecters_queue (Compare);
int fst_magnet = static_cast<int>(magnets[0].position.x_proj + x_dist);
int snd_magnet = static_cast<int>(magnets[1].position.x_proj + x_dist);
vecters_queue.push(create_elem_for_queue(fst_magnet,
snd_magnet,
(MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS[i][fst_magnet][snd_magnet] - sensors_without_static_area[i]).len())); //!!!!BH_correct
int num_visit_cells = 0;
//is_visit[fst_magnet][snd_magnet] = true;
pair<pair<int, int>, double> curr_position = vecters_queue.top();
while (!vecters_queue.empty() || num_of_all_cells != num_visit_cells || vecters_queue.top().second > MIN_DISTANCE_BTW_VECTERS) {
curr_position = vecters_queue.top();
vecters_queue.pop();
is_visit[curr_position.first.first][curr_position.first.second] = true;
++num_visit_cells;
for (int insert_elem_index = max(curr_position.first.first - 1, 0); insert_elem_index < min(length_x, curr_position.first.first + 1); ++insert_elem_index) { //!!!!BH_correct// where is length_x?
for (int insert_elem_index_y = max(curr_position.first.second - 1, 0), insert_elem_index_y < min(length_x, curr_position.first.second + 1); ++insert_elem_index_y) {
if (!is_visit[insert_elem_index][insert_elem_index_y]) {
vecters_queue.push(create_elem_for_queue(insert_elem_index,
insert_elem_index_y,
(MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS[i][insert_elem_index][insert_elem_index_y] - sensors_without_static_area[i]).len())); //!!!!BH_correct
}
}
}
}
if (!vecters_queue.empty() && vecters_queue.top().second < MIN_DISTANCE_BTW_VECTERS) {
fst_magnet_x[i] = vecters_queue.top().first.first; // That's ok?
snd_magnet_x[i] = vecters_queue.top().first.second;
} else {
cerr << "ATTENTION!!! ERROR : Vecter is not found in matrix. (31.07.2019)\n :( \n Hello, Boris, Denis, Anton, Maks and other! Dolbimsya!!!!" << endl;
cerr << "Function: Search_positition_magnet\n";
cerr << "Amount of visited cells = " << num_visit_cells << endl;
System("pause");
}
}
pair<double, double> total = {0, 0};
for (int i = 0; i < MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS.size(); ++i) {
total.first += fst_magnet_x[i];
total.second += snd_magnet_x[i];
}
total.first /= MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS.size();
total.first -= x_dist;
total.second /= MATRIX_OF_ALL_MAGNETS_POSITIONS_FOR_ALL_HALL_SENSORS.size();
total.second -= x_dist;
return total;
}