Tests: Added result/ba to compare with test result

src/test/resources/results/system/src/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project (default)
+set (CMAKE_CXX_STANDARD 11)
+add_subdirectory(rosMsg)
+add_subdirectory(ba_system_velocityController_2_)
+add_subdirectory(ba_system_stopCommQuality_2_)
+add_subdirectory(ba_system_stopCommQuality_1_)
+add_subdirectory(ba_system_velocityController_1_)
+add_subdirectory(ba_system_collisionDetection)
+add_subdirectory(ba_system_intersectionController)

src/test/resources/results/system/src/ba_system_collisionDetection/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project (default)
+set (CMAKE_CXX_STANDARD 11)
+add_subdirectory(coordinator/)
+add_subdirectory(cpp)
+add_subdirectory(roscpp)

src/test/resources/results/system/src/ba_system_collisionDetection/coordinator/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project (Coordinator_ba_system_collisionDetection CXX)
+
+set (CMAKE_CXX_STANDARD 11)
+set (THREADS_PREFER_PTHREAD_FLAG ON)
+find_package(Threads REQUIRED)
+
+add_executable(Coordinator_ba_system_collisionDetection Coordinator_ba_system_collisionDetection.cpp)
+set_target_properties(Coordinator_ba_system_collisionDetection PROPERTIES LINKER_LANGUAGE CXX)
+target_link_libraries(Coordinator_ba_system_collisionDetection RosAdapter_ba_system_collisionDetection ba_system_collisionDetection Threads::Threads)
+target_include_directories(Coordinator_ba_system_collisionDetection PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+export(TARGETS Coordinator_ba_system_collisionDetection FILE Coordinator_ba_system_collisionDetection.cmake)
\ No newline at end of file

src/test/resources/results/system/src/ba_system_collisionDetection/coordinator/Coordinator_ba_system_collisionDetection.cpp

+#include <iostream>
+#include <thread>
+#include <chrono>
+#include <atomic>
+#include <list>
+#include "IAdapter_ba_system_collisionDetection.h"
+
+#include "RosAdapter_ba_system_collisionDetection.h"
+#include "ba_system_collisionDetection.h"
+
+using namespace std;
+using namespace chrono;
+
+static int exeMs = 100;
+
+bool parseCommandLineParameters(int argc, char* argv[]){
+  if(argc == 1){
+    return true;
+  }
+  if(argc == 3 && string(argv[1]) == "-t"){
+    try{
+      int tmp = stoi(argv[2]);
+      if(tmp >= 0){
+        exeMs = tmp;
+        return true;
+      }
+    }catch(...){
+      //Ignore
+    }
+  }
+  cout << "Usage: " << argv[0] << " [-h | -t sleepTimeMs]\n";
+  return false;
+}
+
+void startMiddleware(IAdapter_ba_system_collisionDetection& adapter,ba_system_collisionDetection& comp,atomic<bool>& done){
+  adapter.init(&comp);
+  done = true;
+}
+
+int main(int argc, char* argv[])
+{
+  if(!parseCommandLineParameters(argc,argv)){
+    return 1;
+  }
+
+  atomic<bool> done(false);
+  ba_system_collisionDetection comp;
+  comp.init();
+
+  list<IAdapter_ba_system_collisionDetection*> adapters;
+    adapters.push_back(new RosAdapter_ba_system_collisionDetection());
+
+  list<thread*> threads;
+  for(auto a : adapters){
+    threads.push_back(new thread(startMiddleware,ref(*a),ref(comp),ref(done)));
+  }
+
+  cout << "waiting for all middleware to start\n";
+  this_thread::sleep_for(seconds(3));
+  cout << "started! Executing every " << exeMs << "ms\n";
+
+  time_point<system_clock> start, end;
+  while(!done){
+    start = system_clock::now();
+
+    comp.execute();
+    for(auto a : adapters){
+       (*a).tick();
+    }
+
+    end = system_clock::now();
+    int elapsedMs = duration_cast<milliseconds>(end-start).count();
+    int newSleep = exeMs - elapsedMs;
+    if(newSleep <= 0){
+      cout << "Cant keep up! "<< (-newSleep) <<"ms late!\n";
+    }else{
+       this_thread::sleep_for(milliseconds(newSleep));
+    }
+  }
+
+  return 0;
+}
\ No newline at end of file

src/test/resources/results/system/src/ba_system_collisionDetection/coordinator/IAdapter_ba_system_collisionDetection.h

+#pragma once
+#include "ba_system_collisionDetection.h"
+
+class IAdapter_ba_system_collisionDetection{
+	public:
+		virtual ~IAdapter_ba_system_collisionDetection(){}
+		virtual void init(ba_system_collisionDetection* comp) = 0;
+		virtual void tick() = 0;
+};

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project(ba_system_collisionDetection LANGUAGES CXX)
+add_library(ba_system_collisionDetection ba_system_collisionDetection.h)
+target_include_directories(ba_system_collisionDetection PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+set_target_properties(ba_system_collisionDetection PROPERTIES LINKER_LANGUAGE CXX)
+export(TARGETS ba_system_collisionDetection FILE ba_system_collisionDetection.cmake)

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/HelperA.h

+#ifndef HELPERA_H
+#define HELPERA_H
+#define _GLIBCXX_USE_CXX11_ABI 0
+#include <iostream>
+#include "armadillo.h"
+#include <stdarg.h>
+#include <initializer_list>
+using namespace arma;
+class HelperA{
+public:
+static mat getEigenVectors(mat A){
+vec eigenValues;
+mat eigenVectors;
+eig_sym(eigenValues,eigenVectors,A);
+return eigenVectors;
+}
+static vec getEigenValues(mat A){
+vec eigenValues;
+mat eigenVectors;
+eig_sym(eigenValues,eigenVectors,A);
+return eigenValues;
+}
+
+static mat getKMeansClusters(mat A, int k){
+mat clusters;
+kmeans(clusters,A.t(),k,random_subset,20,true);
+printf("cluster centroid calculation done\n");
+std::ofstream myfile;
+     myfile.open("data after cluster.txt");
+     myfile << A;
+     myfile.close();
+	 
+	 std::ofstream myfile2;
+     myfile2.open("cluster centroids.txt");
+     myfile2 << clusters;
+     myfile2.close();
+mat indexedData=getKMeansClustersIndexData(A.t(), clusters);
+
+std::ofstream myfile3;
+     myfile3.open("data after index.txt");
+     myfile3 << indexedData;
+     myfile3.close();
+	 
+return indexedData;
+}
+
+static mat getKMeansClustersIndexData(mat A, mat centroids){
+	mat result=mat(A.n_cols, 1);
+	for(int i=0;i<A.n_cols;++i){
+		result(i, 0) = getIndexForClusterCentroids(A, i, centroids);
+	}
+	return result;
+}
+
+static int getIndexForClusterCentroids(mat A, int colIndex, mat centroids){
+	int index=1;
+	double lowestDistance=getEuclideanDistance(A, colIndex, centroids, 0);
+	for(int i=1;i<centroids.n_cols;++i){
+		double curDistance=getEuclideanDistance(A, colIndex, centroids, i);
+		if(curDistance<lowestDistance){
+			lowestDistance=curDistance;
+			index=i+1;
+		}
+	}
+	return index;
+}
+
+static double getEuclideanDistance(mat A, int colIndexA, mat B, int colIndexB){
+	double distance=0;
+	for(int i=0;i<A.n_rows;++i){
+		double elementA=A(i,colIndexA);
+		double elementB=B(i,colIndexB);
+		double diff=elementA-elementB;
+		distance+=diff*diff;
+	}
+	return sqrt(distance);
+}
+
+static mat getSqrtMat(mat A){
+
+for(int i=0;i<A.n_rows;++i){
+    double curVal = A(i,i);
+    A(i,i) = sqrt(curVal);
+}
+return A;
+}
+
+static mat getSqrtMatDiag(mat A){
+for(int i=0;i<A.n_rows;++i){
+    double curVal = A(i,i);
+    A(i,i) = sqrt(curVal);
+}
+return A;
+}
+
+static mat invertDiagMatrix(mat A){
+for(int i=0;i<A.n_rows;++i){
+    double curVal = A(i,i);
+    A(i,i) = 1/curVal;
+}
+return A;
+}
+};
+#endif

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/ba_system_collisionDetection.h

+#ifndef BA_SYSTEM_COLLISIONDETECTION
+#define BA_SYSTEM_COLLISIONDETECTION
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+#include "armadillo.h"
+#include "types/ba_struct_Rectangle.h"
+#include "ba_system_collisionDetection_singleSetCompareRect.h"
+#include "ba_system_collisionDetection_rectIntersection_1_.h"
+#include "ba_system_collisionDetection_multiOr.h"
+using namespace arma;
+class ba_system_collisionDetection{
+const int n = 2;
+const int x = 1;
+public:
+ba_struct_Rectangle hulls[2];
+bool collision;
+ba_system_collisionDetection_singleSetCompareRect singleSetCompareRect;
+ba_system_collisionDetection_rectIntersection_1_ rectIntersection[1];
+ba_system_collisionDetection_multiOr multiOr;
+void init()
+{
+singleSetCompareRect.init();
+rectIntersection[0].init();
+multiOr.init();
+}
+void execute()
+{
+singleSetCompareRect.setIn[0] = hulls[0];
+singleSetCompareRect.setIn[1] = hulls[1];
+singleSetCompareRect.execute();
+rectIntersection[0].rect1 = singleSetCompareRect.outA[0];
+rectIntersection[0].rect2 = singleSetCompareRect.outB[0];
+rectIntersection[0].execute();
+multiOr.boolIn[0] = rectIntersection[0].collision;
+multiOr.execute();
+collision = multiOr.boolOut;
+}
+
+};
+#endif

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/ba_system_collisionDetection_multiOr.h

+#ifndef BA_SYSTEM_COLLISIONDETECTION_MULTIOR
+#define BA_SYSTEM_COLLISIONDETECTION_MULTIOR
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+#include "armadillo.h"
+using namespace arma;
+class ba_system_collisionDetection_multiOr{
+const int x = 1;
+public:
+bool boolIn[1];
+bool boolOut;
+void init()
+{
+}
+void execute()
+{
+bool flag = false;
+for( auto i=1;i<=x;++i){
+flag = flag||boolIn[i-1];
+}
+boolOut = flag;
+}
+
+};
+#endif

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/ba_system_collisionDetection_rectIntersection_1_.h

+#ifndef BA_SYSTEM_COLLISIONDETECTION_RECTINTERSECTION_1_
+#define BA_SYSTEM_COLLISIONDETECTION_RECTINTERSECTION_1_
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+#include "armadillo.h"
+#include "types/ba_struct_Rectangle.h"
+#include "ba_system_collisionDetection_rectIntersection_1__rectToLines1.h"
+#include "ba_system_collisionDetection_rectIntersection_1__rectToLines2.h"
+#include "ba_system_collisionDetection_rectIntersection_1__dualSetCompareLines.h"
+#include "ba_system_collisionDetection_rectIntersection_1__lineIntersection_1_.h"
+#include "ba_system_collisionDetection_rectIntersection_1__multiOrRect.h"
+using namespace arma;
+class ba_system_collisionDetection_rectIntersection_1_{
+public:
+ba_struct_Rectangle rect1;
+ba_struct_Rectangle rect2;
+bool collision;
+ba_system_collisionDetection_rectIntersection_1__rectToLines1 rectToLines1;
+ba_system_collisionDetection_rectIntersection_1__rectToLines2 rectToLines2;
+ba_system_collisionDetection_rectIntersection_1__dualSetCompareLines dualSetCompareLines;
+ba_system_collisionDetection_rectIntersection_1__lineIntersection_1_ lineIntersection[10];
+ba_system_collisionDetection_rectIntersection_1__multiOrRect multiOrRect;
+void init()
+{
+rectToLines1.init();
+rectToLines2.init();
+dualSetCompareLines.init();
+lineIntersection[0].init();
+lineIntersection[1].init();
+lineIntersection[2].init();
+lineIntersection[3].init();
+lineIntersection[4].init();
+lineIntersection[5].init();
+lineIntersection[6].init();
+lineIntersection[7].init();
+lineIntersection[8].init();
+lineIntersection[9].init();
+multiOrRect.init();
+}
+void execute()
+{
+rectToLines1.rect = rect1;
+rectToLines1.execute();
+rectToLines2.rect = rect2;
+rectToLines2.execute();
+dualSetCompareLines.setInA[0] = rectToLines1.lines[0];
+dualSetCompareLines.setInA[1] = rectToLines1.lines[1];
+dualSetCompareLines.setInA[2] = rectToLines1.lines[2];
+dualSetCompareLines.setInA[3] = rectToLines1.lines[3];
+dualSetCompareLines.setInB[0] = rectToLines2.lines[0];
+dualSetCompareLines.setInB[1] = rectToLines2.lines[1];
+dualSetCompareLines.setInB[2] = rectToLines2.lines[2];
+dualSetCompareLines.setInB[3] = rectToLines2.lines[3];
+dualSetCompareLines.execute();
+lineIntersection[0].lineA = dualSetCompareLines.outA[0];
+lineIntersection[0].lineB = dualSetCompareLines.outB[0];
+lineIntersection[0].execute();
+lineIntersection[1].lineA = dualSetCompareLines.outA[1];
+lineIntersection[1].lineB = dualSetCompareLines.outB[1];
+lineIntersection[1].execute();
+lineIntersection[2].lineA = dualSetCompareLines.outA[2];
+lineIntersection[2].lineB = dualSetCompareLines.outB[2];
+lineIntersection[2].execute();
+lineIntersection[3].lineA = dualSetCompareLines.outA[3];
+lineIntersection[3].lineB = dualSetCompareLines.outB[3];
+lineIntersection[3].execute();
+lineIntersection[4].lineA = dualSetCompareLines.outA[4];
+lineIntersection[4].lineB = dualSetCompareLines.outB[4];
+lineIntersection[4].execute();
+lineIntersection[5].lineA = dualSetCompareLines.outA[5];
+lineIntersection[5].lineB = dualSetCompareLines.outB[5];
+lineIntersection[5].execute();
+lineIntersection[6].lineA = dualSetCompareLines.outA[6];
+lineIntersection[6].lineB = dualSetCompareLines.outB[6];
+lineIntersection[6].execute();
+lineIntersection[7].lineA = dualSetCompareLines.outA[7];
+lineIntersection[7].lineB = dualSetCompareLines.outB[7];
+lineIntersection[7].execute();
+lineIntersection[8].lineA = dualSetCompareLines.outA[8];
+lineIntersection[8].lineB = dualSetCompareLines.outB[8];
+lineIntersection[8].execute();
+lineIntersection[9].lineA = dualSetCompareLines.outA[9];
+lineIntersection[9].lineB = dualSetCompareLines.outB[9];
+lineIntersection[9].execute();
+multiOrRect.boolIn[0] = lineIntersection[0].intersects;
+multiOrRect.boolIn[1] = lineIntersection[1].intersects;
+multiOrRect.boolIn[2] = lineIntersection[2].intersects;
+multiOrRect.boolIn[3] = lineIntersection[3].intersects;
+multiOrRect.boolIn[4] = lineIntersection[4].intersects;
+multiOrRect.boolIn[5] = lineIntersection[5].intersects;
+multiOrRect.boolIn[6] = lineIntersection[6].intersects;
+multiOrRect.boolIn[7] = lineIntersection[7].intersects;
+multiOrRect.boolIn[8] = lineIntersection[8].intersects;
+multiOrRect.boolIn[9] = lineIntersection[9].intersects;
+multiOrRect.execute();
+collision = multiOrRect.boolOut;
+}
+
+};
+#endif

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/ba_system_collisionDetection_rectIntersection_1__dualSetCompareLines.h

+#ifndef BA_SYSTEM_COLLISIONDETECTION_RECTINTERSECTION_1__DUALSETCOMPARELINES
+#define BA_SYSTEM_COLLISIONDETECTION_RECTINTERSECTION_1__DUALSETCOMPARELINES
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+#include "armadillo.h"
+using namespace arma;
+class ba_system_collisionDetection_rectIntersection_1__dualSetCompareLines{
+const int rows = 2;
+const int cols = 4;
+const int n = 4;
+const int n2 = 10;
+public:
+mat setInA[4];
+mat setInB[4];
+mat outA[10];
+mat outB[10];
+void init()
+{
+setInA[0]=mat(rows,cols);
+setInA[1]=mat(rows,cols);
+setInA[2]=mat(rows,cols);
+setInA[3]=mat(rows,cols);
+setInB[0]=mat(rows,cols);
+setInB[1]=mat(rows,cols);
+setInB[2]=mat(rows,cols);
+setInB[3]=mat(rows,cols);
+outA[0]=mat(rows,cols);
+outA[1]=mat(rows,cols);
+outA[2]=mat(rows,cols);
+outA[3]=mat(rows,cols);
+outA[4]=mat(rows,cols);
+outA[5]=mat(rows,cols);
+outA[6]=mat(rows,cols);
+outA[7]=mat(rows,cols);
+outA[8]=mat(rows,cols);
+outA[9]=mat(rows,cols);
+outB[0]=mat(rows,cols);
+outB[1]=mat(rows,cols);
+outB[2]=mat(rows,cols);
+outB[3]=mat(rows,cols);
+outB[4]=mat(rows,cols);
+outB[5]=mat(rows,cols);
+outB[6]=mat(rows,cols);
+outB[7]=mat(rows,cols);
+outB[8]=mat(rows,cols);
+outB[9]=mat(rows,cols);
+}
+void execute()
+{
+int counter = 1;
+for( auto i=1;i<=n;++i){
+for( auto j=i;j<=n;++j){
+outA[counter-1] = setInA[i-1];
+outB[counter-1] = setInB[j-1];
+counter = counter+1;
+}
+}
+}
+
+};
+#endif

src/test/resources/results/system/src/ba_system_collisionDetection/cpp/ba_system_collisionDetection_rectIntersection_1__lineIntersection_1_.h

+#ifndef BA_SYSTEM_COLLISIONDETECTION_RECTINTERSECTION_1__LINEINTERSECTION_1_
+#define BA_SYSTEM_COLLISIONDETECTION_RECTINTERSECTION_1__LINEINTERSECTION_1_
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+#include "armadillo.h"
+#include <cmath>
+using namespace arma;
+class ba_system_collisionDetection_rectIntersection_1__lineIntersection_1_{
+public:
+mat lineA;
+mat lineB;
+mat point;
+bool intersects;
+void init()
+{
+lineA=mat(4,1);
+lineB=mat(4,1);
+point=mat(2,1);
+}
+void execute()
+{
+double Ax = lineA(3-1, 1-1)-lineA(1-1, 1-1);
+double Ay = lineA(4-1, 1-1)-lineA(2-1, 1-1);
+double Bx = lineB(1-1, 1-1)-lineB(3-1, 1-1);
+double By = lineB(2-1, 1-1)-lineB(4-1, 1-1);
+double Cx = lineA(1-1, 1-1)-lineB(1-1, 1-1);
+double Cy = lineA(2-1, 1-1)-lineB(2-1, 1-1);
+double n1 = Ay*Bx-Ax*By;
+double cutoff = 1.0E-8;
+bool res = false;
+if(((std::abs(n1) > cutoff))){
+double alpha = (By*Cx-Bx*Cy)/n1;
+if(((alpha >= cutoff))&&((alpha <= 1))){
+double beta = (Ax*Cy-Ay*Cx)/n1;
+if(((beta >= cutoff))&&((beta <= 1))){
+res = true;
+point(1-1, 1-1) = lineA(1-1, 1-1)+alpha*Ax;
+point(2-1, 1-1) = lineA(2-1, 1-1)+alpha*Ay;
+}
+}
+}
+intersects = res;
+}
+
+};
+#endif