Examples with NumberFormat maspack.util.NumberFormat used on opensource projects

Example 51 with NumberFormat

use of maspack.util.NumberFormat in project artisynth_core by artisynth.

the class MatrixBase method write.

/**
 * Writes a principal submatrix of this matrix to a specified file, and
 * returns the PrintWriter that was created to do the writing.
 *
 * @param fileName
 * Path name for the file to written
 * @param msg
 * Optional message - if not <code>null</code>, is printed on
 * a separate line preceeding the matrix information.
 * @param wfmt
 * specifies the matrix output format
 * @param nrows number of rows in the principle submatrix
 * @param ncols number of columns in the principle submatrix
 * @return PrintWriter used to do the writing
 */
public PrintWriter write(String fileName, String msg, WriteFormat wfmt, int nrows, int ncols) throws IOException {
    NumberFormat fmt = new NumberFormat("%g");
    PrintWriter pw = new PrintWriter(new BufferedWriter(new FileWriter(fileName)));
    if (msg != null) {
        pw.println(msg);
    }
    write(pw, fmt, wfmt, nrows, ncols);
    return pw;
}

Example 52 with NumberFormat

use of maspack.util.NumberFormat in project artisynth_core by artisynth.

the class TrackingController method apply.

/**
 * Applies the controller, estimating and setting the next
 * set of muscle activations
 */
public void apply(double t0, double t1) {
    // System.out.println("dt = "+(t1-t0)+"     h = "+ TimeBase.round(t1 - t0));
    if (getDebug()) {
        // cleans up the console
        System.out.println("\n--- t = " + t1 + " ---");
    }
    if (t0 == 0) {
        // XXX need better way to zero excitations on reset
        myCostFunction.setSize(numExcitations());
        myExcitations = new VectorNd(numExcitations());
    }
    if (!isEnabled()) {
        return;
    }
    // need to save forces so that we can restore them at the end
    VectorNd savedForces = new VectorNd();
    myMech.getForces(savedForces);
    prevExcitations.set(myExcitations);
    SparseBlockMatrix Jc = (myForceTerm == null ? null : myForceTerm.getForceJacobian());
    SparseBlockMatrix Jm = (myMotionTerm == null ? null : myMotionTerm.getVelocityJacobian());
    // update and store inverse data
    myMotionForceData.update(t0, t1, Jm, Jc);
    if (myMotionTerm.useDeltaAct) {
        VectorNd deltaActivations = myCostFunction.solve(t0, t1);
        myExcitations.add(deltaActivations);
        if (getDebug()) {
            System.out.println("da = [" + deltaActivations.toString("%.4f") + "];");
        }
    } else {
        myExcitations.set(myCostFunction.solve(t0, t1));
    }
    /*
       * limit excitation jumps
       */
    // System.out.println ("excitations="+myExcitations);
    NumberFormat f4 = new NumberFormat("%.4f");
    /* debug info */
    if (getDebug()) {
    // System.out.println("ex = ["+myExcitations.toString (f4)+"];");
    // System.out.println("lb = ["+lowerBound.toString (f4)+"];");
    // System.out.println("ub = ["+upperBound.toString (f4)+"];");
    }
    setExcitations(myExcitations, 0);
    myMech.setForces(savedForces);
// if (kTerm != null) {
// System.out.println("K* = "+kTerm.getStiffnessTargetVec().toString("%8.2f"));
// System.out.println("K  = "+kTerm.getStiffnessVec().toString("%8.2f")+"\n");
// }
// if (cTerm != null) {
// System.out.println("C* = "+cTerm.getComplianceTargetVec().toString("%8.6f"));
// System.out.println("C  = "+cTerm.getComplianceVec().toString("%8.6f")+"\n");
// }
}

Example 53 with NumberFormat

use of maspack.util.NumberFormat in project artisynth_core by artisynth.

the class StlWriter method writeMesh.

public void writeMesh(PolygonalMesh mesh) throws IOException {
    NumberFormat fmt = myFmt;
    PrintWriter pw = new PrintWriter(new BufferedWriter(new OutputStreamWriter(myOstream)));
    String name = mesh.getName();
    if (name == null) {
        name = "";
    }
    pw.println("solid " + name);
    for (Face face : mesh.getFaces()) {
        Vector3d n = face.getNormal();
        if (face.isTriangle()) {
            pw.println("facet normal " + fmt.format((float) n.x) + " " + fmt.format((float) n.y) + " " + fmt.format((float) n.z));
        } else {
            pw.println("facet normal 0 0 0");
        }
        pw.println("  outer loop");
        for (int i = 0; i < face.numVertices(); i++) {
            Point3d pos = face.getVertex(i).getPosition();
            pw.println("    vertex " + fmt.format((float) pos.x) + " " + fmt.format((float) pos.y) + " " + fmt.format((float) pos.z));
        }
        pw.println("  endloop");
        pw.println("endfacet");
    }
    pw.println("endsolid " + name);
    pw.close();
}

Example 54 with NumberFormat

use of maspack.util.NumberFormat in project artisynth_core by artisynth.

the class LUDecompositionTest method timingTests.

private void timingTests() {
    // Random rand = RandomGenerator.get();
    int baseTimingCnt = 100000;
    int numTrials = 10;
    int[] matsizes = new int[] { 4, 8, 16, 32, 4, 8, 16, 32, 64 };
    NumberFormat ifmt = new NumberFormat("%3d");
    NumberFormat ffmt = new NumberFormat("%7.2f");
    System.out.println("matsize    time");
    for (int k = 0; k < matsizes.length; k++) {
        int n = matsizes[k];
        int timingCnt = baseTimingCnt / (n * n);
        MatrixNd M = new MatrixNd(n, n);
        LUDecomposition lu = new LUDecomposition(n);
        FunctionTimer timer = new FunctionTimer();
        double ludTime = 0;
        for (int cnt = 0; cnt < numTrials; cnt++) {
            M.setRandom();
            timer.start();
            for (int i = 0; i < timingCnt; i++) {
                lu.factor(M);
            }
            timer.stop();
            ludTime += timer.getTimeUsec() / timingCnt;
        }
        ludTime /= numTrials;
        System.out.println("  " + ifmt.format(n) + "    " + ffmt.format(ludTime));
    }
}

Example 55 with NumberFormat

use of maspack.util.NumberFormat in project artisynth_core by artisynth.

the class AffineOrthogonalTest method doTest.

public static void doTest() {
    double[][] pnts = { { -1, -1, -1 }, { -1, 1, -1 }, { -1, 1, 1 }, { -1, -1, 1 }, { 1, -1, -1 }, { 1, 1, -1 }, { 1, 1, 1 }, { 1, -1, 1 } };
    NumberFormat fmt = new NumberFormat("%.5f");
    Vector3d.setDefaultFormat(fmt.toString());
    Matrix3d.setDefaultFormat(fmt.toString());
    ArrayList<Point3d> p = new ArrayList<Point3d>();
    ArrayList<Point3d> q = new ArrayList<Point3d>();
    AffineTransform3d transf = new AffineTransform3d();
    Vector3d axis = new Vector3d(1, 1, 0);
    double angle = 1.7;
    Vector3d translation = new Vector3d(5, 2, 3);
    Vector3d scaling = new Vector3d(-13, -2, -7);
    axis.normalize();
    transf.setRotation(new AxisAngle(axis, angle));
    transf.setTranslation(translation);
    transf.applyScaling(scaling.x, scaling.y, scaling.z);
    for (int i = 0; i < pnts.length; i++) {
        Point3d v = new Point3d(pnts[i]);
        Point3d w = new Point3d(pnts[i]);
        w.transform(transf);
        p.add(w);
        q.add(v);
    }
    AffineTransform3d transb = new AffineTransform3d();
    transb.fitOrthogonal(p, q);
    // decompose:
    Vector3d translationb = transb.p;
    Matrix3d Rb = new Matrix3d(transb.A);
    Vector3d scaleb = new Vector3d();
    Vector3d tmp = new Vector3d();
    for (int i = 0; i < 3; i++) {
        Rb.getColumn(i, tmp);
        double s = tmp.norm();
        tmp.scale(1.0 / s);
        scaleb.set(i, s);
        Rb.setColumn(i, tmp);
    }
    // check if we have a flip instead of rotation
    double Rbdet = Rb.determinant();
    if (Rbdet < 0) {
        Rbdet = -Rbdet;
        Rb.getColumn(2, tmp);
        tmp.scale(-1);
        scaleb.set(2, -scaleb.get(2));
        Rb.setColumn(2, tmp);
    }
    RotationMatrix3d Rb2 = new RotationMatrix3d();
    Rb2.setSubMatrix(0, 0, Rb);
    AxisAngle aab = new AxisAngle(Rb2);
    System.out.println("Translation: \t" + translationb + " \t/ " + translation);
    System.out.println("Rotation: \t" + aab.axis + ", " + fmt.format(aab.angle) + " \t/ " + axis + ", " + angle);
    System.out.println("Scaling: \t" + scaleb + " \t/ " + scaling);
    // re-check based on new info
    AffineTransform3d transc = new AffineTransform3d();
    transc.setRotation(aab);
    transc.setTranslation(translationb);
    transc.applyScaling(scaleb.x, scaleb.y, scaleb.z);
    AffineTransform3d transd = new AffineTransform3d();
    transd.fitOrthogonal(p, q, 1e-15);
    System.out.println("Original: \n" + transf);
    System.out.println("Computed: \n" + transb);
    System.out.println("Recomputed transform:\n" + transc);
    System.out.println("Iterated transform:\n" + transd);
}