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<hr><h1>retriever_instance.cpp</h1><a href="retriever__instance_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 
00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025 
00026 <font class="preprocessor">#include "<a class="code" href="stdpacs_8h.html">stdpacs.h</a>"</font>
00027 
00028 <font class="preprocessor">#include "<a class="code" href="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
00030 
00031 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00032 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00033 
00034 
00035 
<a name="l00036"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a0">00036</a> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a0">NLPACS::CRetrieverInstance::CRetrieverInstance</a>()
00037 {
00038         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">reset</a>();
00039 }
00040 
00041 
<a name="l00042"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">00042</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">NLPACS::CRetrieverInstance::resetLinks</a>()
00043 {
00044         uint    i;
00045         <font class="comment">// WARNING !!</font>
00046         <font class="comment">// this is a HARD reset !</font>
00047         <font class="comment">// only the instance i reset, no care about neighbors !!</font>
00048         <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
00049                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i] = -1;
00050         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.clear();
00051 
00052         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.removeLinks();
00053 }
00054 
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a2">00055</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">NLPACS::CRetrieverInstance::resetLinks</a>(uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00056 {
00057         vector&lt;sint32&gt;::iterator        rit;
00058         <font class="keywordflow">for</font> (rit=<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.begin(); rit!=<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.end(); )
00059                 <font class="keywordflow">if</font> (*rit == (sint32)<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00060                         rit = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.erase(rit);
00061                 <font class="keywordflow">else</font>
00062                         ++rit;
00063 
00064         uint    i;
00065         <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.size(); ++i)
00066                 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance == (uint16)<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00067                         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].reset();
00068 
00069         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.removeLinks(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
00070 }
00071 
<a name="l00072"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">00072</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">NLPACS::CRetrieverInstance::reset</a>()
00073 {
00074         <font class="comment">// WARNING !!</font>
00075         <font class="comment">// this is a HARD reset !</font>
00076         <font class="comment">// only the instance i reset, no care about neighbors !!</font>
00077         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.clear();
00078         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> = -1;
00079         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> = -1;
00080         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> = 0;
00081         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a> = CVector::Null;
00082         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = CLocalRetriever::Landscape;
00083         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.clear();
00084         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.clear();
00085 
00086         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">resetLinks</a>();
00087 }
00088 
<a name="l00089"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">00089</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">NLPACS::CRetrieverInstance::init</a>(<font class="keyword">const</font> CLocalRetriever &amp;retriever)
00090 {
00091         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.resize(retriever.getSurfaces().size());
00092         uint    i;
00093 
00094         <font class="comment">// Resets _NodesInformation for later pathfinding graph annotation.</font>
00095         <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.size(); ++i)
00096         {
00097                 CVector pos = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">getGlobalPosition</a>(retriever.getSurfaces()[i].getCenter());
00098                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>[i].Position = CVector2f(pos.x, pos.y);
00099         }
00100 
00101         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = retriever.getType();
00102         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.resize(retriever.getBorderChains().size());
00103 }
00104 
<a name="l00105"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a19">00105</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a19">NLPACS::CRetrieverInstance::make</a>(sint32 instanceId, sint32 retrieverId, <font class="keyword">const</font> CLocalRetriever &amp;retriever,
00106                                                                                  uint8 orientation, <font class="keyword">const</font> CVector &amp;origin)
00107 {
00108         <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> != -1 || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> != -1)
00109         {
00110                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in call to NLPACS::CRetrieverInstance::make"</font>);
00111                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"_InstanceId=%d _RetrieverId=%d _Orientation=%d"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00112                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"instanceId=%d retrieverId=%d orientation=%d"</font>, instanceId, retrieverId, orientation);
00113                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Retriever instance %d has already been set"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00114         }
00115         
00116         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> = instanceId;
00117         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> = retrieverId;
00118         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> = (orientation%4);
00119         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a> = origin;
00120 
00121         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a> = retriever.getBBox();
00122         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_4">getCenter</a>()+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>);
00123 
00124         <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> == 1 || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> == 3)
00125         {
00126                 CVector hs = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_5">getHalfSize</a>();
00127                 std::swap(hs.x, hs.y);
00128                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_1">setHalfSize</a>(hs);
00129         }
00130 
00131         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">init</a>(retriever);
00132 }
00133 
00134 <font class="comment">//</font>
<a name="l00135"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a17">00135</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a17">NLPACS::CRetrieverInstance::initEdgeQuad</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a> &amp;gr)
00136 {
00137         <font class="keyword">const</font> CLocalRetriever   &amp;lr = gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
00138 
00139         <font class="keywordflow">if</font> (lr.getType() != CLocalRetriever::Interior)
00140         {
00141                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Attempt to init the edgequad of instance %d whereas local retriever %d is not interior"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
00142         }
00143 
00144         <font class="comment">// build the edge quad</font>
00145         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.build(lr.getExteriorMesh(), gr, gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">getInternalCST</a>(),<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00146 }
00147 
<a name="l00148"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a18">00148</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a18">NLPACS::CRetrieverInstance::linkEdgeQuad</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a> &amp;gr)
00149 {
00150         <font class="keyword">const</font> CLocalRetriever                           &amp;lr = gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
00151         <font class="keyword">const</font> CExteriorMesh                                     &amp;em = lr.getExteriorMesh();
00152 
00153         <font class="keyword">const</font> vector&lt;CExteriorEdgeEntry&gt;        &amp;ee = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.getEdgeEntries();
00154 
00155         <font class="comment">// here we fill (partially) the _BorderChainLinks table</font>
00156         uint    i;
00157         <font class="keywordflow">for</font> (i=0; i&lt;ee.size(); ++i)
00158         {
00159                 <font class="keyword">const</font> CExteriorMesh::CEdge      &amp;edge = em.getEdge(ee[i].EdgeId);
00160                 <font class="keywordflow">if</font> (edge.Link != -1)
00161                 {
00162                         <font class="keyword">const</font> CExteriorMesh::CLink              &amp;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a> = em.getLink(edge.Link);
00163 
00164                         <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.SurfaceId != 0xFFFF &amp;&amp; <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.ChainId != 0xFFFF &amp;&amp; <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId != 0xFFFF)
00165                         {
00166                                 CRetrieverInstance::CLink       &amp;borderLink = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId];
00167                                 borderLink.ChainId = 0xFFFF;            <font class="comment">// no opposite chain</font>
00168                                 borderLink.BorderChainId = 0xFFFF;      <font class="comment">// idem</font>
00169                                 <font class="keywordflow">if</font> ((borderLink.Instance == 0xFFFF &amp;&amp; borderLink.SurfaceId == 0xFFFF) ||
00170                                         (borderLink.Instance == (uint16)(ee[i].Exterior.RetrieverInstanceId) &amp;&amp;
00171                                          borderLink.SurfaceId == (uint16)(ee[i].Exterior.SurfaceId) ))
00172                                 {
00173                                         borderLink.Instance = (uint16)(ee[i].Exterior.RetrieverInstanceId);
00174                                         borderLink.SurfaceId = (uint16)(ee[i].Exterior.SurfaceId);
00175                                 }
00176                                 <font class="keywordflow">else</font>
00177                                 {
00178                                         <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Instance %d, borderLink %d: link already set to inst=%d, surf=%d, try to set to inst=%d, surf=%d"</font>,
00179                                                                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId, borderLink.Instance, borderLink.SurfaceId, 
00180                                                                 (uint16)(ee[i].Exterior.RetrieverInstanceId), (uint16)(ee[i].Exterior.SurfaceId));
00181                                 }
00182                         }
00183                 }
00184         }
00185 }
00186 
00187 <font class="comment">/* Links the current retriever instance to another instance</font>
00188 <font class="comment"> * on the given edge.</font>
00189 <font class="comment"> */</font>
00190 <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">NLPACS::CRetrieverInstance::link</a>(CRetrieverInstance &amp;neighbor,
00191                                                                                  <font class="keyword">const</font> vector&lt;CLocalRetriever&gt; &amp;retrievers)
00192 {
00193         uint    i, j;
00194         <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
00195                 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i] == neighbor._InstanceId)
00196                         <font class="keywordflow">return</font>;
00197 
00198         <font class="keyword">const</font> CLocalRetriever                                           &amp;retriever = retrievers[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>];
00199         <font class="keyword">const</font> CLocalRetriever                                           &amp;nRetriever = retrievers[neighbor._RetrieverId];
00200 
00201         <font class="keyword">const</font> vector&lt;CChain&gt;                                            &amp;chains = retriever.getChains(),
00202                                                                                                 &amp;nChains = nRetriever.getChains();
00203         <font class="keyword">const</font> vector&lt;uint16&gt;                                            &amp;borderChains = retriever.getBorderChains(),
00204                                                                                                 &amp;nBorderChains = nRetriever.getBorderChains();
00205 
00206         vector&lt; pair&lt;CVector,CVector&gt; &gt;                         chainTips,
00207                                                                                                 nChainTips;
00208 
00209         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.resize(borderChains.size());
00210         neighbor._BorderChainLinks.resize(nBorderChains.size());
00211 
00212         <font class="keywordflow">for</font> (i=0; i&lt;borderChains.size(); ++i)
00213                 chainTips.push_back(make_pair(retriever.getTip(chains[borderChains[i]].getStartTip()).Point,
00214                                                                           retriever.getTip(chains[borderChains[i]].getStopTip()).Point));
00215 
00217 
00218         CVector translation = neighbor._Origin - <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>;
00219 
00220         <font class="keywordflow">for</font> (i=0; i&lt;nBorderChains.size(); ++i)
00221                 nChainTips.push_back(make_pair(nRetriever.getTip(nChains[nBorderChains[i]].getStartTip()).Point+translation,
00222                                                                            nRetriever.getTip(nChains[nBorderChains[i]].getStopTip()).Point+translation));
00223 
00224         <font class="keywordflow">for</font> (i=0; i&lt;borderChains.size(); ++i)
00225         {
00226                 <font class="comment">// if the chain is already linked, just step</font>
00227                 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance != 0xFFFF || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId != 0xFFFF ||
00228                         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId != 0xFFFF || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].SurfaceId != 0xFFFF)
00229                         <font class="keywordflow">continue</font>;
00230 
00231                 <font class="keywordtype">float</font>   bestDist = 1.0f;
00232                 sint    best = -1;
00233 
00234                 <font class="keywordflow">for</font> (j=0; j&lt;nBorderChains.size(); ++j)
00235                 {
00236                         <font class="keywordflow">if</font> (neighbor._BorderChainLinks[j].Instance != 0xFFFF || neighbor._BorderChainLinks[j].BorderChainId != 0xFFFF ||
00237                                 neighbor._BorderChainLinks[j].ChainId != 0xFFFF || neighbor._BorderChainLinks[j].SurfaceId != 0xFFFF)
00238                                 <font class="keywordflow">continue</font>;
00239 
00240                         <font class="keywordtype">float</font>   d = (chainTips[i].first-nChainTips[j].second).<a class="code" href="classNLMISC_1_1CVector.html#z331_2">norm</a>()+(chainTips[i].second-nChainTips[j].first).norm();
00241                         <font class="keywordflow">if</font> (d &lt; bestDist)
00242                         {
00243                                 bestDist = d;
00244                                 best = j;
00245                         }
00246                 }
00247 
00248                 <font class="comment">// if no best match, just don't link</font>
00249                 <font class="keywordflow">if</font> (bestDist &gt; 1.0e-1f || best == -1)
00250                         <font class="keywordflow">continue</font>;
00251 
00252                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance = (uint16)neighbor._InstanceId;
00253                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId = (uint16)best;
00254                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId = nBorderChains[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId];
00255                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].SurfaceId = (uint16)nChains[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId].getLeft();
00256 
00257                 neighbor._BorderChainLinks[best].Instance = (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>;
00258                 neighbor._BorderChainLinks[best].BorderChainId = (uint16)i;
00259                 neighbor._BorderChainLinks[best].ChainId = borderChains[neighbor._BorderChainLinks[best].BorderChainId];
00260                 neighbor._BorderChainLinks[best].SurfaceId = (uint16)chains[neighbor._BorderChainLinks[best].ChainId].getLeft();
00261         }
00262 
00263         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.push_back(neighbor._InstanceId);
00264         neighbor._Neighbors.push_back(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00265 }
00266 
00267 
<a name="l00268"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a21">00268</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a21">NLPACS::CRetrieverInstance::unlink</a>(vector&lt;CRetrieverInstance&gt; &amp;instances)
00269 {
00270         uint    i;
00271 
00272         <font class="keywordflow">for</font> (i=0; i&lt;<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
00273                 instances[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i]].resetLinks(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00274 
00275         <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">resetLinks</a>();
00276 }
00277 
00278 
00279 
00280 
<a name="l00281"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">00281</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">NLPACS::CRetrieverInstance::retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &amp;estimated, <font class="keyword">const</font> CLocalRetriever &amp;retriever, CCollisionSurfaceTemp &amp;cst) <font class="keyword">const</font>
00282 <font class="comment">//NLPACS::CLocalRetriever::CLocalPosition       NLPACS::CRetrieverInstance::retrievePosition(const NLMISC::CVector &amp;estimated, const CLocalRetriever &amp;retriever, CCollisionSurfaceTemp &amp;cst) const</font>
00283 {
00284 <font class="comment">/*</font>
00285 <font class="comment">        CVector                                                 localEstimated;</font>
00286 <font class="comment">        CLocalRetriever::CLocalPosition retrieved;</font>
00287 <font class="comment"></font>
00288 <font class="comment">        // get local coordinates</font>
00289 <font class="comment">        localEstimated = getLocalPosition(estimated);</font>
00290 <font class="comment">        // Yoyo: must snap vector.</font>
00291 <font class="comment">        CRetrieverInstance::snapVector(localEstimated);</font>
00292 <font class="comment"></font>
00293 <font class="comment">        // fills _RetrieveTable by retrievingPosition.</font>
00294 <font class="comment">        retriever.retrievePosition(localEstimated, cst);</font>
00295 <font class="comment"></font>
00296 <font class="comment">        uint    i, surf;</font>
00297 <font class="comment">        sint    bestSurf = -1;</font>
00298 <font class="comment">        sint    lastSurf = -1;</font>
00299 <font class="comment">        float   bestDistance = 1.0e10f;</font>
00300 <font class="comment">        float   bestHeight;</font>
00301 <font class="comment">        bool    lfound;</font>
00302 <font class="comment"></font>
00303 <font class="comment">        // for each surface in the retriever</font>
00304 <font class="comment">        for (i=0; i&lt;cst.PossibleSurfaces.size(); ++i)</font>
00305 <font class="comment">        {</font>
00306 <font class="comment">                surf = cst.PossibleSurfaces[i];</font>
00307 <font class="comment">                cst.SurfaceLUT[surf].first = false;</font>
00308 <font class="comment">                // if the surface contains the estimated position.</font>
00309 <font class="comment">                if (cst.SurfaceLUT[surf].second != 0)</font>
00310 <font class="comment">                {</font>
00311 <font class="comment">                        // at least remembers the last seen surface...</font>
00312 <font class="comment">                        cst.SurfaceLUT[surf].second = 0;</font>
00313 <font class="comment">                        float                   meanHeight;</font>
00314 <font class="comment">                        const CQuadLeaf *leaf;</font>
00315 <font class="comment">                        ULocalPosition  lp;</font>
00316 <font class="comment">                        lfound = false;</font>
00317 <font class="comment"></font>
00318 <font class="comment">                        switch (_Type)</font>
00319 <font class="comment">                        {</font>
00320 <font class="comment">                        case CLocalRetriever::Landscape:</font>
00321 <font class="comment">                                // for landscape</font>
00322 <font class="comment">                                // search in the surface's quad tree for the actual height</font>
00323 <font class="comment">                                leaf = retriever.getSurfaces()[surf].getQuadTree().getLeaf(localEstimated);</font>
00324 <font class="comment">                                // if there is no acceptable leaf, just give up</font>
00325 <font class="comment">                                if (leaf == NULL)</font>
00326 <font class="comment">                                        continue;</font>
00327 <font class="comment">                                meanHeight = leaf-&gt;getMaxHeight();</font>
00328 <font class="comment">                                lfound = true;</font>
00329 <font class="comment">                                break;</font>
00330 <font class="comment">                        case CLocalRetriever::Interior:</font>
00331 <font class="comment">                                // for interior</font>
00332 <font class="comment">                                // get the exact position</font>
00333 <font class="comment">                                lp.Surface = surf;</font>
00334 <font class="comment">                                lp.Estimation = localEstimated;</font>
00335 <font class="comment">                                meanHeight = localEstimated.z;</font>
00336 <font class="comment">                                retriever.snapToInteriorGround(lp, lfound);</font>
00337 <font class="comment">                                if (lfound)</font>
00338 <font class="comment">                                        meanHeight = lp.Estimation.z;</font>
00339 <font class="comment">                                break;</font>
00340 <font class="comment">                        default:</font>
00341 <font class="comment">                                // hu?</font>
00342 <font class="comment">                                continue;</font>
00343 <font class="comment">                        }</font>
00344 <font class="comment"></font>
00345 <font class="comment">                        // if it is closer to the estimation than the previous remembered...</font>
00346 <font class="comment">                        float   distance = (float)fabs(localEstimated.z-meanHeight);</font>
00347 <font class="comment">                        if (distance &lt; bestDistance &amp;&amp; lfound)</font>
00348 <font class="comment">                        {</font>
00349 <font class="comment">                                bestDistance = distance;</font>
00350 <font class="comment">                                bestHeight = meanHeight;</font>
00351 <font class="comment">                                bestSurf = surf;</font>
00352 <font class="comment">                        }</font>
00353 <font class="comment">                }</font>
00354 <font class="comment">        }</font>
00355 <font class="comment"></font>
00356 <font class="comment">        if (bestSurf != -1)</font>
00357 <font class="comment">        {</font>
00358 <font class="comment">                // if there is a best surface, returns it</font>
00359 <font class="comment">                retrieved.Surface = bestSurf;</font>
00360 <font class="comment">                retrieved.Estimation = CVector(localEstimated.x, localEstimated.y, bestHeight);</font>
00361 <font class="comment">        }</font>
00362 <font class="comment">        else</font>
00363 <font class="comment">        {</font>
00364 <font class="comment">                // else return the last remembered...</font>
00365 <font class="comment">                retrieved.Surface = lastSurf;</font>
00366 <font class="comment">                retrieved.Estimation = localEstimated;</font>
00367 <font class="comment">        }</font>
00368 <font class="comment"></font>
00369 <font class="comment">        return retrieved;</font>
00370 <font class="comment">*/</font>
00371         retrievePosition(CVectorD(estimated), retriever, cst);
00372 }
00373 
<a name="l00374"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a23">00374</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">NLPACS::CRetrieverInstance::retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &amp;estimated, <font class="keyword">const</font> CLocalRetriever &amp;retriever, CCollisionSurfaceTemp &amp;cst)<font class="keyword"> const</font>
00375 <font class="keyword"></font>{
00376         CVector                                                 localEstimated;
00377 
00378 <font class="comment">//      nldebug("PACS: retrievePosition in instance %d (retriever %d)", _InstanceId, _RetrieverId);</font>
00379 
00380         <font class="comment">// get local coordinates</font>
00381         localEstimated = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">getLocalPosition</a>(estimated);
00382         <font class="comment">// Yoyo: must snap vector.</font>
00383         CRetrieverInstance::snapVector(localEstimated);
00384 
00385         <font class="comment">// fills _RetrieveTable by retrievingPosition.</font>
00386         retriever.retrievePosition(localEstimated, cst);
00387 
00388         uint    i, surf;
00389 <font class="comment">/*      sint    bestSurf = -1;</font>
00390 <font class="comment">        sint    lastSurf = -1;</font>
00391 <font class="comment">        float   bestDistance = 1.0e10f;</font>
00392 <font class="comment">        float   bestHeight;*/</font>
00393         <font class="keywordtype">bool</font>    found = <font class="keyword">false</font>;
00394 
00395         <font class="keywordflow">switch</font> (_Type)
00396         {
00397         <font class="keywordflow">case</font> CLocalRetriever::Landscape:
00398                 <font class="comment">// for landscape</font>
00399                 <font class="keywordflow">for</font> (i=0; i&lt;cst.PossibleSurfaces.size(); ++i)
00400                 {
00401                         surf = cst.PossibleSurfaces[i];
00402 
00403 <font class="comment">//                      nldebug("PACS: surface %d: count %d", surf, cst.SurfaceLUT[surf].Counter);</font>
00404 
00405                         <font class="comment">// if the surface contains the estimated position.</font>
00406                         <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter == 2)
00407                         {
00408                                 <font class="keywordtype">float</font>                   meanHeight;
00409                                 <font class="keyword">const</font> CQuadLeaf *leaf;
00410 
00411                                 <font class="comment">// search in the surface's quad tree for the actual height</font>
00412                                 leaf = retriever.getSurfaces()[surf].getQuadTree().getLeaf(localEstimated);
00413                                 <font class="comment">// if there is no acceptable leaf, just give up</font>
00414                                 <font class="keywordflow">if</font> (leaf != NULL)
00415                                 {
00416                                         meanHeight = leaf-&gt;getMaxHeight();
00417                                         <font class="comment">//meanHeight = retriever.getSurfaces()[surf].getQuadTree().getInterpZ(localEstimated);</font>
00418 
00419                                         <font class="comment">// if it is closer to the estimation than the previous remembered...</font>
00420                                         found = <font class="keyword">true</font>;
00421                                         <font class="keywordtype">float</font>   distance = (float)fabs(localEstimated.z-meanHeight);
00422                                         cst.SortedSurfaces.push_back(CCollisionSurfaceTemp::CDistanceSurface(distance, (uint16)surf, (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, cst.SurfaceLUT[surf].FoundCloseEdge));
00423                                 }
00424                         }
00425                         <font class="keywordflow">else</font> <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter != 0)
00426                         {
00427                                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unexpected surface (%d) count (%d) at instance %d (pos=(%f,%f,%f))"</font>, surf, cst.SurfaceLUT[surf].Counter, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>);
00428                         }
00429 
00430                         cst.SurfaceLUT[surf].reset();
00431                 }
00432 
00433                 <font class="keywordflow">break</font>;
00434 
00435         <font class="keywordflow">case</font> CLocalRetriever::Interior:
00436                 <font class="comment">// for interior</font>
00437                 <font class="keywordflow">for</font> (i=0; i&lt;cst.PossibleSurfaces.size(); ++i)
00438                 {
00439                         surf = cst.PossibleSurfaces[i];
00440                         <font class="comment">// if the surface contains the estimated position.</font>
00441                         <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter == 2)
00442                         {
00443                                 ULocalPosition  lp;
00444                                 <font class="keywordtype">bool</font>                    lfound = <font class="keyword">false</font>;
00445 
00446                                 <font class="comment">// get the exact position</font>
00447                                 lp.Surface = surf;
00448                                 lp.Estimation = localEstimated;
00449                                 retriever.snapToInteriorGround(lp, lfound);
00450                                 <font class="keywordflow">if</font> (lfound)
00451                                 {
00452                                         <font class="comment">// if it is closer to the estimation than the previous remembered...</font>
00453                                         found = <font class="keyword">true</font>;
00454                                         <font class="keywordtype">float</font>   distance = (float)fabs(localEstimated.z-lp.Estimation.z);
00455                                         cst.SortedSurfaces.push_back(CCollisionSurfaceTemp::CDistanceSurface(distance, (uint16)surf, (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, cst.SurfaceLUT[surf].FoundCloseEdge));
00456                                 }
00457                         }
00458                         <font class="keywordflow">else</font> <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter != 0)
00459                         {
00460                                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unexpected surface (%d) count (%d) at instance %d (pos=(%f,%f,%f))"</font>, surf, cst.SurfaceLUT[surf].Counter, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>);
00461                         }
00462 
00463                         cst.SurfaceLUT[surf].reset();
00464                 }
00465                 <font class="keywordflow">break</font>;
00466 
00467         <font class="keywordflow">default</font>:
00468                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Unknown instance type %d !!"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
00469                 <font class="keywordflow">break</font>;
00470         }
00471 
00472         cst.OutCounter = 0;
00473 }
00474 
00475 
00476 
<a name="l00477"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a24">00477</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a24">NLPACS::CRetrieverInstance::snapToInteriorGround</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;position, 
00478                                                                                                                  <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &amp;retriever)<font class="keyword"> const</font>
00479 <font class="keyword"></font>{
00480         <font class="keywordtype">bool</font>    lfound;
00481         retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">snapToInteriorGround</a>(position, lfound);
00482 }
00483 
<a name="l00484"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a25">00484</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a25">NLPACS::CRetrieverInstance::snap</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &amp;position, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &amp;retriever)<font class="keyword"> const</font>
00485 <font class="keyword"></font>{
00486         <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> == CLocalRetriever::Landscape)
00487         {
00488                 <font class="comment">// search in the surface's quad tree for the actual height</font>
00489 <font class="comment">//              position.Estimation.z = retriever.getSurfaces()[position.Surface].getQuadTree().getInterpZ(position.Estimation);</font>
00490 
00491                 <font class="keyword">const</font> CQuadLeaf *leaf = retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_10">getSurfaces</a>()[position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>].getQuadTree().getLeaf(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>);
00492                 <font class="comment">// if there is no acceptable leaf, just give up</font>
00493                 <font class="keywordflow">if</font> (leaf != NULL)
00494                 {
00495                         position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> = leaf-&gt;getMaxHeight();
00496                 }
00497                 <font class="keywordflow">else</font>
00498                 {
00499                         <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: couldn't snap position (%f,%f,%f) on surface %d instance %d"</font>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00500                 }
00501 
00502         }
00503         <font class="keywordflow">else</font> <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> == CLocalRetriever::Interior)
00504         {
00505                 <font class="keywordtype">bool</font>    lfound;
00506                 retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">snapToInteriorGround</a>(position, lfound);
00507         }
00508         <font class="keywordflow">else</font>
00509         {
00510                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unknown instance (%d) type %d"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
00511         }
00512 }
00513 
00514 
00515 
00516 
00517 
<a name="l00518"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">00518</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">NLPACS::CRetrieverInstance::getLocalPosition</a>(<font class="keyword">const</font> CVector &amp;globalPosition)<font class="keyword"> const</font>
00519 <font class="keyword"></font>{
00520         <font class="keywordflow">switch</font> (_Orientation)
00521         {
00522         <font class="keywordflow">default</font>:
00523                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00524                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00525         <font class="keywordflow">case</font> 0:
00526                 <font class="keywordflow">return</font> CVector(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00527                 <font class="keywordflow">break</font>;
00528         <font class="keywordflow">case</font> 1:
00529                 <font class="keywordflow">return</font> CVector(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, -globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00530                 <font class="keywordflow">break</font>;
00531         <font class="keywordflow">case</font> 2:
00532                 <font class="keywordflow">return</font> CVector(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00533                 <font class="keywordflow">break</font>;
00534         <font class="keywordflow">case</font> 3:
00535                 <font class="keywordflow">return</font> CVector(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, +globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00536                 <font class="keywordflow">break</font>;
00537         }
00538 }
00539 
<a name="l00540"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a28">00540</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">NLPACS::CRetrieverInstance::getLocalPosition</a>(<font class="keyword">const</font> CVectorD &amp;globalPosition)<font class="keyword"> const</font>
00541 <font class="keyword"></font>{
00542         <font class="keywordflow">switch</font> (_Orientation)
00543         {
00544         <font class="keywordflow">default</font>:
00545                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00546                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00547         <font class="keywordflow">case</font> 0:
00548                 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00549                 <font class="keywordflow">break</font>;
00550         <font class="keywordflow">case</font> 1:
00551                 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00552                 <font class="keywordflow">break</font>;
00553         <font class="keywordflow">case</font> 2:
00554                 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00555                 <font class="keywordflow">break</font>;
00556         <font class="keywordflow">case</font> 3:
00557                 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00558                 <font class="keywordflow">break</font>;
00559         }
00560 }
00561 
<a name="l00562"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">00562</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">NLPACS::CRetrieverInstance::getGlobalPosition</a>(<font class="keyword">const</font> CVector &amp;localPosition)<font class="keyword"> const</font>
00563 <font class="keyword"></font>{
00564         <font class="keywordflow">switch</font> (_Orientation)
00565         {
00566         <font class="keywordflow">default</font>:
00567                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00568                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00569         <font class="keywordflow">case</font> 0:
00570                 <font class="keywordflow">return</font> CVector(+localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00571                 <font class="keywordflow">break</font>;
00572         <font class="keywordflow">case</font> 1:
00573                 <font class="keywordflow">return</font> CVector(-localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00574                 <font class="keywordflow">break</font>;
00575         <font class="keywordflow">case</font> 2:
00576                 <font class="keywordflow">return</font> CVector(-localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00577                 <font class="keywordflow">break</font>;
00578         <font class="keywordflow">case</font> 3:
00579                 <font class="keywordflow">return</font> CVector(+localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00580                 <font class="keywordflow">break</font>;
00581         }
00582 }
00583 
<a name="l00584"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a30">00584</a> CVectorD        <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a30">NLPACS::CRetrieverInstance::getDoubleGlobalPosition</a>(<font class="keyword">const</font> CVector &amp;localPosition)<font class="keyword"> const</font>
00585 <font class="keyword"></font>{
00586         <font class="keywordflow">switch</font> (_Orientation)
00587         {
00588         <font class="keywordflow">default</font>:
00589                 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00590                 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00591         <font class="keywordflow">case</font> 0:
00592                 <font class="keywordflow">return</font> CVectorD(+(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00593                 <font class="keywordflow">break</font>;
00594         <font class="keywordflow">case</font> 1:
00595                 <font class="keywordflow">return</font> CVectorD(-(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00596                 <font class="keywordflow">break</font>;
00597         <font class="keywordflow">case</font> 2:
00598                 <font class="keywordflow">return</font> CVectorD(-(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00599                 <font class="keywordflow">break</font>;
00600         <font class="keywordflow">case</font> 3:
00601                 <font class="keywordflow">return</font> CVectorD(+(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00602                 <font class="keywordflow">break</font>;
00603         }
00604 }
00605 
00606 
00607 
00608 <font class="comment">// ***************************************************************************</font>
<a name="l00609"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z956_0">00609</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z956_0">NLPACS::CRetrieverInstance::testExteriorCollision</a>(<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &amp;cst, <font class="keyword">const</font> CAABBox &amp;bboxMove, <font class="keyword">const</font> CVector2f &amp;transBase, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &amp;retriever)<font class="keyword"> const</font>
00610 <font class="keyword"></font>{
00611         sint    i;
00612 
00613         <font class="comment">// 0. select ordered chains in the chainquad.</font>
00614         <font class="comment">//=====================================</font>
00615         sint    nEei= <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.selectEdges(bboxMove, cst);
00616         <font class="comment">// NB: cst.OChainLUT is assured to be full of 0xFFFF after this call (if was right before).</font>
00617 
00618 
00619         <font class="comment">// 1. regroup them in chains. build cst.CollisionChains</font>
00620         <font class="comment">//=====================================</font>
00621         <font class="comment">// NB: use cst.OChainLUT to look if a Chain has been inserted before.</font>
00622         uint16  *edgeLUT= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m0">OChainLUT</a>;
00623 
00624         <font class="comment">// bkup where we begin to add chains.</font>
00625         uint    firstChainAdded= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
00626 
00627         <font class="comment">// For all exterioredge entry.</font>
00628         <font class="keywordflow">for</font>(i=0;i&lt;nEei;i++)
00629         {
00630                 <font class="comment">// get the edge entry and the edge</font>
00631                 uint16                                          eei = cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m2">ExteriorEdgeIndexes</a>[i];
00632                 <font class="keyword">const</font> CExteriorEdgeEntry        &amp;eee = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.getEdgeEntry(eei);
00633 
00634                 <font class="comment">// don't bother about doors</font>
00635                 <font class="keywordflow">if</font> (eee.Interior.RetrieverInstanceId != -1)
00636                         <font class="keywordflow">continue</font>;
00637 
00638                 <font class="comment">// add/retrieve the id in cst.CollisionChains.</font>
00639                 <font class="comment">//=================================</font>
00640                 uint                            ccId;
00641                 <font class="comment">// if never added.</font>
00642                 <font class="keywordflow">if</font>(edgeLUT[eei]==0xFFFF)
00643                 {
00644                         <font class="comment">// add a new CCollisionChain.</font>
00645                         ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
00646                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.push_back(CCollisionChain());
00647                         <font class="comment">// Fill it with default.</font>
00648                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].Tested= <font class="keyword">false</font>;
00649                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ExteriorEdge = <font class="keyword">true</font>;
00650                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].FirstEdgeCollide= 0xFFFFFFFF;
00651                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ChainId= eei;
00652                         <font class="comment">// Fill Left right info.</font>
00653                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].LeftSurface = eee.Interior;
00654                         cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].RightSurface = eee.Exterior;
00655 
00656                         <font class="comment">// store this Id in the LUT of chains.</font>
00657                         edgeLUT[eei]= ccId;
00658                 }
00659                 <font class="keywordflow">else</font>
00660                 {
00661                         <font class="comment">// get the id of this collision chain.</font>
00662                         ccId= edgeLUT[eei];
00663                 }
00664 
00665                 <font class="comment">// add edge collide to the list.</font>
00666                 <font class="comment">//=================================</font>
00667                 CCollisionChain                 &amp;colChain= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId];
00668 
00669                 CVector2f       p0 = CVector2f(retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>.getEdge(eee.EdgeId).Start);
00670                 CVector2f       p1 = CVector2f(retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>.getEdge(eee.EdgeId+1).Start);
00671 
00672                 <font class="comment">// alloc a new edgeCollide.</font>
00673                 uint32  ecnId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_1">allocEdgeCollideNode</a>();
00674                 CEdgeCollideNode        &amp;ecn= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_2">getEdgeCollideNode</a>(ecnId);
00675 
00676                 <font class="comment">// append to the front of the list.</font>
00677                 ecn.Next= colChain.FirstEdgeCollide;
00678                 colChain.FirstEdgeCollide= ecnId;
00679 
00680                 <font class="comment">// build this edge.</font>
00681                 p0+= transBase;
00682                 p1+= transBase;
00683                 ecn.make(p0, p1);
00684         }
00685 
00686 
00687 
00688         <font class="comment">// 2. Reset LUT to 0xFFFF.</font>
00689         <font class="comment">//=====================================</font>
00690 
00691         <font class="comment">// for all collisions chains inserted (starting from firstChainAdded), reset LUT.</font>
00692         <font class="keywordflow">for</font>(i=firstChainAdded; i&lt;(sint)cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size(); i++)
00693         {
00694                 uint    ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[i].ChainId;
00695                 edgeLUT[ccId]= 0xFFFF;
00696         }
00697 
00698 }
00699 
00700 
00701 
00702 
<a name="l00703"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a26">00703</a> <font class="keywordtype">void</font>    <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a26">NLPACS::CRetrieverInstance::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &amp;f)
00704 {
00705         <font class="comment">/*</font>
00706 <font class="comment">        Version 0:</font>
00707 <font class="comment">                - base version.</font>
00708 <font class="comment">        Version 1:</font>
00709 <font class="comment">                - added type and _EdgeQuad</font>
00710 <font class="comment">        */</font>
00711         sint    ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(1);
00712 
00713         f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>);
00714         f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>);
00715         f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>);
00716         f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>);
00717 
00718         <font class="comment">// serialises the number of nodes</font>
00719         uint16  totalNodes = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.size();
00720         f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(totalNodes);
00721         <font class="keywordflow">if</font> (f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
00722         {
00723                 <font class="comment">// if the stream is reading, reinits the temps table...</font>
00724                 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.resize(totalNodes);
00725         }
00726 
00727         <font class="keywordflow">if</font> (ver &gt;= 1)
00728         {
00729                 f.<a class="code" href="classNLMISC_1_1IStream.html#a6">serialEnum</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
00730                 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>);
00731 
00732                 <font class="comment">// a fix for old versions (with wrong _Type value)</font>
00733                 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> != CLocalRetriever::Interior) <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = CLocalRetriever::Landscape;
00734         }
00735 }
</pre></div>

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