3 #include <jsoncpp/json/json.h>
7 std::chrono::high_resolution_clock::time_point TSTART_;
8 std::chrono::high_resolution_clock::time_point TEND_;
9 inline void TSTART() { TSTART_ = std::chrono::high_resolution_clock::now(); }
10 inline void TEND() { TEND_ = std::chrono::high_resolution_clock::now(); }
13 std::chrono::duration<double> DT_;
14 DT_ = std::chrono::duration_cast<std::chrono::duration<double>>(
19 inline void TPRINT(const char *what)
21 std::cerr << what << ": " << TDIFF() << std::endl;
26 Json::Value jvi; // JSON input
27 Json::Value jvo; // JSON output
30 if (jvi["slot"] == Json::nullValue) {
31 std::cerr << "I need `slot` in JSON input scenario";
32 std::cerr << std::endl;
37 // use 1st slot (index 0)
39 jvi["slot"][0][0][0].asDouble(),
40 jvi["slot"][0][0][1].asDouble(),
41 jvi["slot"][0][1][0].asDouble(),
42 jvi["slot"][0][1][1].asDouble(),
43 jvi["slot"][0][2][0].asDouble(),
44 jvi["slot"][0][2][1].asDouble(),
45 jvi["slot"][0][3][0].asDouble(),
46 jvi["slot"][0][3][1].asDouble()
49 psp.cc() = BicycleCar(psp.gc());
55 jvo["time"] = TDIFF();
58 jvo["init"][0] = psp.cc().x();
59 jvo["init"][1] = psp.cc().y();
60 jvo["init"][2] = psp.cc().h();
63 jvo["goal"][0] = psp.gc().x();
64 jvo["goal"][1] = psp.gc().y();
65 jvo["goal"][2] = psp.gc().h();
68 unsigned int icnt = 0;
69 for (auto &i: psp.possible_inits(10, 10)) {
70 jvo["inits"][icnt][0] = i.x();
71 jvo["inits"][icnt][1] = i.y();
72 jvo["inits"][icnt][2] = i.h();
77 jvo["slot"][0][0][0] = psp.ps().x1();
78 jvo["slot"][0][0][1] = psp.ps().y1();
79 jvo["slot"][0][1][0] = psp.ps().x2();
80 jvo["slot"][0][1][1] = psp.ps().y2();
81 jvo["slot"][0][2][0] = psp.ps().x3();
82 jvo["slot"][0][2][1] = psp.ps().y3();
83 jvo["slot"][0][3][0] = psp.ps().x4();
84 jvo["slot"][0][3][1] = psp.ps().y4();
87 unsigned int ocnt = 0;
88 for (auto o: jvi["obst"]) {
89 unsigned int ccnt = 0;
91 jvo["obst"][ocnt][ccnt][0] = c[0];
92 jvo["obst"][ocnt][ccnt][1] = c[1];
98 std::cout << jvo << std::endl;