published in the Mountain Astrologer
Have you ever become assertive and energized when talking about Mars transits? Or wild and adventurous when discussing Uranus? When you look at your own horoscope cycles or those of your clients, does your behavior begin to resonate with the planetary signature energies?
That’s what happens to me. I physically and emotionally feel, and often manifest, the frequency of the planet involved in a transit or solar arc, especially when I’m trying to describe a significant upcoming cycle for a client.
So, when I talk about Saturn, I become more serious. My speech pattern slows, my consciousness aligns with perseverance, discipline, structure, and order. With Pluto, I step into the primal energies of death and rebirth, moving into the trusting frame of mind that is required with the transformative process connected to this cycle.
This remarkable resonance has worked well for me, with the glaring exception of the energy associated with one planet - Neptune! Until recently, I’ve had a difficult time describing what I felt when I tune into the nebulous energy from this mystical giant. The spacey and foggy feelings would tend to confuse me, and I would lose the words to convey my message.
A telling example of this is my experience in writing this article. As I sat down to write, I would think about Neptune, connecting and tuning into its vibrational energy. Within moments, I would find that I was losing my train of thought, adrift in a right-brained fog. I stared at the computer screen, lost in ethereal abstraction instead of purposefully moving forward with organized expression. I spent many hours simply trying to clear my head long enough to write a coherent sentence.
I compare that to how I wrote my last article, which was about Aries energy. Staying focused on the speedy, dynamic Martian frequencies of Aries caused my fingers to fly across the keyboard. My thoughts came fast and furious. For that article, my challenge was to keep up with the words racing through my head.
I’ve always understood that Neptune is associated with abstract spiritual vibrations that are often hard to put into words. In fact, when I compare Neptune to Saturn, I typically use the example of comparing the texture of silk to burlap. Saturn’s frequency is rough and coarse, like burlap; Neptune seems smooth and delicate, like silk. Saturn is much easier to grasp and explain - the energy impact is so very practical and mundane. Neptune’s energy impact, on the other hand, is elusive and insubstantial.
I’m sure this experience is due to my particular learning style and the fact that I have no planets in air in my chart. I learn through experience - through touching, feeling, and seeing. For me to be an effective counseling astrologer, I first need to have a tangible sensory experience with a cycle in order to explain it well.
Thankfully, in the last two years, I have had a breakthrough with sensing and understanding the Neptune vibration. I had the one-two punch of overlapping cycles from this mystical planet - a powerful solar arc from Neptune to my natal Saturn and a transit to my natal Mars. I’d like to share my clarifying experience with you, in the hope that it may help you to see better through the mist when you are in a Neptune cycle.
My journey of enlightenment with this mystical planet began in the spring of 2007, when transiting Neptune squared my Mars (see Chart 1). I knew this would be a significant transit, because Mars is a key planet for me.
Mars, the Warrior Planet, sits in the 12th house in my chart, just 5 degrees from my Ascendant. My identity is closely aligned with the highly focused, even stubborn determination associated with Mars in Taurus. I’ve lived most of my life feeling inspired by challenge and nourished by aggressively facing anything that attempts to stop me from achieving my goals. My approach to life is direct, immediate, and to the point. Vigorous exercise is like fine food to me - I love the warrior energy and thoroughly enjoy feeling strong, powerful, and in command.
So, as Neptune was approaching the square to my Mars by transit, imagine my surprise when my usually fearless approach to life began to change. Instead of being energized by challenge, I started to feel indifferent and sometimes even overwhelmed. Where I would normally want to prove myself against the odds - eager to push past obstacles - I instead began to turn away and look for an easier, less demanding path. It was as though I had an energy leak. At first, this change was subtle and gradual - sneaking up on me like a stealthy opponent - then becoming very powerful during the first hit of the transit in March 2007.
In June 2007, a few months after the first hit of the Neptune square Mars transit, solar arc Neptune conjoined my Saturn. [1] (See Chart 2,) It was the overlap of a solar arc and a transit that accelerated everything.
This is important: The one-two punch of an overlapping solar arc and transit must be given serious consideration when analyzing a chart. This usually signifies a pivotal developmental period.
My life began to change very quickly with the two cycles working together. The solar arc of Neptune to Saturn started to dissolve my comfortable, orderly, and disciplined reality. I found that it became more difficult to muster passion and enthusiasm to achieve personal goals, resulting in a horrible feeling of being unproductive. Self-doubt started to creep in, along with a certain level of inertia. I felt as though I had lost all my initiative, as well as my sense of purpose and organization.
I have to admit that there were times when I viewed myself with a degree of self-loathing, during this initial energetic shift. I felt that I had lost control of my sense of direction and was wandering aimlessly, buffeted by circumstances. I began to wonder where “the real me” had gone. I asked countless times, “Who is this woman inhabiting my body? I don’t know her. Where did I go?”
When late summer came, I noticed that my normal ambition and desire for achievement had totally dissolved. I had to really push myself to stay on track and get work done. To my horror, even my house - my disciplined refuge - became messy and disorganized. I just couldn’t seem to keep up with everything like I normally did, and stark feelings of failure started to emerge. It became more and more difficult for me to find my gutsy confidence and determined drive; fear and self-doubt began to rear their ugly heads.
Our understanding of Neptune is that it has a finely tuned high frequency that is not necessarily congruent with life’s practical, mundane realities. During a Neptune cycle, aggressive impulses are softened, the drive to achieve loses steam, and the urge for competitive challenge slowly dissipates. While we are in one of these cycles, it is often more difficult to stay grounded and to engage in practical tasks. Instead, our energy wants to align with vague idealism, peace, and beauty. Imagination and intuition are often heightened. It’s as though the influence from this planet helps to create a bridge to abstractly philosophical, artistic, and spiritual worlds.
Throughout his work and lectures, Noel Tyl presented the idea that Neptune cycles can easily signal “ego wipeout.” I could so fully identify with the personal sense of wipeout that I decided to call him when I was feeling particularly bewildered and frustrated. I wanted to discuss how I could transform this foggy period into a purposeful, productive time.
In my talk with Noel, he mentioned that there is a reason for the wipeout: It creates an opportunity for personal regrouping and rebuilding. He continued by saying that, for someone who is naturally oriented to spirituality or aesthetic pursuits, it can also be a time of great creativity and inspiration - if the doors are open to those things. He asked me, “Are your doors open?”
It was the perfect question! I realized that, instead of surrendering and flowing with the Neptune vibes, I was full of resistance, and my doors were not open. Instead, I had slammed them shut, trying to keep out this new and uncomfortably abstract energy. Plunging into the Neptunian fog scared me. It felt so nonlinear and formless.
I think this is a very common reaction to Neptune transits, especially for type A personalities. Learning how to adjust to and proceed with the dreamy and ethereal approach to life can be challenging.
As soon as I faced the fact that I was full of resistance and apprehension, I could form a plan for making a meaningful change, which enabled me to connect with Mars again. I had my challenge defined. I knew I had to relax, let go, move with the energy, and find out where it wanted to take me.
I practiced staying loose and relaxed, not focusing judgment on myself and my unfamiliar reactions. I meditated more frequently and allowed myself to drift and have spaced-out moments. I started to pay attention for messages or guidance, when I ventured into the abstraction. I made a sacred pact that I would not sink into downward-spiraling self-criticism.
It was difficult. My basic nature wanted to drive forward and forcefully break through the hazy mist. I was very impatient to get back to work in my usual way. However, when I tried to force productivity, I noticed that my confusion would increase - once again, a clear signal that forcing was not the right approach.
Whenever I surrendered, I quickly noticed that new creative desires and avenues were opening for me. I began to feel waves of artistic energy flowing into my consciousness. There were times when my hands would literally shake with creative anticipation. I felt an incredible yearning and urgency to express myself, to explore colors, textures, and shapes. One day, I finally gave in to the urge and sat down with markers and colored pencils and let the creativity pour onto paper. How exciting! Several hours later, I had produced my first mandala.
Once I started to let the art flow, it wouldn’t stop. I would create for days on end. I noticed that making mandalas satisfied my need to have order and organization, even in my art. Mandalas are concentric layers of geometric shapes arranged symmetrically. Their structured symmetry perfectly resonates with the orderly energy of Saturn. This was an ideal expression of the solar arc of Neptune to my Saturn!
Mandalas are rhythmically beautiful and are designed as meditation pieces, gently inviting you to pause and reflect. Frequently, people comment on how a mandala can hold their attention for long periods of time. They mention that they feel that they are being pulled into the piece, as if they are entering a vortex. This type of art is not static; there is constant energetic motion, always moving toward the center point. The spiritual effect is a clear representation of Neptune. Mandalas structure and organize energetic patterns in aesthetic terms: Saturn and Neptune working together.
When I started to put my work in a few small art shows, it became clear to me that each mandala I made was intended for a specific person. The process I went through in making the piece represented what was going on in that person’s life in retrospect. For instance, sometimes I would struggle to find the right colors and shapes - tearing apart my creation countless times, building and rebuilding. The mandalas that were the most difficult to birth would always find an owner who had just gone through a similar process in life.
The more I surrendered to the creative flow, the faster everything developed. I engaged my pioneering Mars and bravely experimented with new materials, using layers of cut paper in my pieces - adding metal, fabric, beads, and wood for a three- dimensional effect. I found that it was difficult and sometimes overwhelming to keep up with the images in my head. They would flood my dreams and waking state. I felt saturated with abstraction and creativity - not overwhelmed, rather overjoyed.
The Neptunian vibrations sensitized me to the frequencies of colors. I began to hear color combinations as music. When the perfect blend of shades came together in a piece, a beautiful chord would sound. If I introduced a color that wasn’t right, I would hear a cacophony of uncomfortably discordant notes. I knew, at this point, that I had fully entered into the Neptune reality, and it was clear to me that my natal Mars was responding beautifully to this planet’s aesthetic energy.
Working for the benefit of others is also very much connected to Neptune. I knew this intellectually, but I wasn’t prepared for the waves of charitable inspirations that started to flow through me. I was intensely involved with the practice of yoga during my Neptune cycle. (It’s no surprise that I was drawn to a more spiritual form of exercise at that time.) Yoga helped to clear my channels, opening me to better receive the spiritual frequencies.
Often, during yoga classes, I would be filled with incredibly inspired ideas for how to help some of the people in my life. These would come as full visions with complete details. Without hesitation, I began to take action on these thoughts. I knew that this was the direction in which I had to move.
One idea was to create a fundraising event for a local dance company with which my daughter dances. The vision was so complete and comprehensive that I was able to put it together in a few short months, raising much-needed funds that allowed the dancers to continue their performances. It was so successful that it has now become an annual event.
I also decided to start marketing a friend of mine who is a wonderful spiritual artist. This woman has always needed a manager. She’s supremely gifted as an artist but lacking in the business end of things. I arranged for her to paint a giant mural at my children’s school and got her into a few large art shows. This launched her in a new direction, giving her enormous exposure and a welcome push.
In 2007 and 2008, I can say that a good portion of my time and energy went to fundraising and charity work. My schedule was extremely busy, and I juggled many projects at once - all for the benefit of other people. I felt completely nourished and fulfilled as I actively worked to help others.
As long as I moved with the flow and focused on art and charity work, I was able to maintain direction and accomplish my chosen tasks. It became clear to me that, in the beginning of the cycle, I felt so fuzzy and bewildered because I wasn’t responding positively to the Neptunian nudges. A new direction was trying to manifest. All I needed to do was to open the door and let the inspiration flow through, to guide me along my new path.
My life has changed for the better because of this cycle. I am now selling my art regularly, which has nicely supplemented my income. Because of my charity and fundraising work and the connections I’ve made, I’ve been invited to participate in several art shows, which was an unexpected personal benefit of my efforts. Even though my entrance into the realm of Neptune wasn’t very graceful at first, it all worked out for the best. My experience with this planet has taught me so much and has expanded my astrological vision as well as my career.
We always strive to recognize and receive the benefits from transits and solar arcs. These cycles are ultimately opportunities for spiritual and personal growth. However, when powerful outer-planet transits and solar arcs first present themselves, there are also often difficult side effects that we must understand.
Our success with any cycle depends on how well we adjust to the new frequency. As with any transit or solar arc, we must remember that the planets are not doing anything to us; rather, we are responding to the planetary frequencies. We have a certain level of choice in how we respond to and use the vibrations in which we are being bathed during a major cycle.
Neptune can act like a tranquilizer; its energy can make you feel dopey and “out of it,” with little to no motivation. Now that I am up to speed with “Neptune-talk,” I am able to warn my clients and educate them about the possible uncomfortable, even distressing side effects of these cycles. Conveying this requires some skill; otherwise, you run the risk of programming a negative reaction and creating fear.
It is far too easy to foster the mindset in a client to expect a bad experience. Word choice is critical, along with a reminder that we have free will and choices. We may struggle more with cycles from some planets than others - just as I had a hard time initially adjusting to the Neptune energies - but that does not mean we should throw up our hands and declare that the experience will be horrible.
It is helpful and important to maintain an attitude that approaches a planetary cycle with the expectation of good. Remembering to focus on converting the new energy into positive action allows us to respond purposefully to the cycle, instead of just reacting blindly out of fear.
There are many benefits to be derived from Neptune cycles. Just as Noel Tyl said, they can be a time of great creativity and inspiration. Even as I write this, I’m heading into another long transit from this ethereal planet. Soon, it will square my Ascendant/Descendant and then my Sun and Venus. I can’t afford to sit in dread of the fog moving in and once again shrouding me in confusion. Instead, I’ve chosen to view this as a wonderful opportunity for soul growth, greater self-awareness, and hopefully more artistic, spiritual, and intuitive development. My recent experience has prepared me to open the doors and not fear the fog, trusting that I will find my way through the mist.
Or call<PHONE_NUMBER>.


Kunbu
Kunbu is a sea transfer management solution. You can travel anywhere in Maldives with Kunbu. Contact us for more information.
repo kunbu.com kunbutracking.comWhy?
There is no convinient way to find and reserve sea vesseles in the Maldives
How does it work?
Shows availability of vessels and lets users make booking
My Contribution
As a Former Co-Founder, I initiated this startup and I have also worked on the back-end


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Factful Bubble Chart
A React component that tells the facts of the world


| 006:069 Khan | : |
Those who fear Allah, keep their duty to Him and avoid evil are not responsible for them (the disbelievers) in any case, but (their duty) is to remind them, that they may avoid that (mockery at the Qur'an). [The order of this Verse was cancelled (abrogated) by the Verse 4:140]. |
| 006:069 Maulana | : |
And those who keep their duty are not accountable for them in aught but (theirs) is only to remind; haply they may guard against evil. |
| 006:069 Pickthal | : |
Those who ward off (evil) are not accountable for them in aught, but the Reminder (must be given them) that haply they (too) may ward off (evil). |
| 006:069 Rashad | : |
The righteous are not responsible for the utterances of those people, but it may help to remind them; perhaps they may be saved. |
| 006:069 Sarwar | : |
But those who observe piety (commit no sin) by sitting with the (unbelievers) in order to preach (the Truth) so that they, too, may become pious. |
| 006:069 Shakir | : |
And nought of the reckoning of their (deeds) shall be against those who guard (against evil), but (theirs) is only to remind, haply they may guard. |
| 006:069 Sherali | : |
And those who are righteous are not at all accountable for them, but their duty is to admonish them that they may fear ALLAH. |
| 006:069 Yusufali | : |
On their account no responsibility falls on the righteous, but (their duty) is to remind them, that they may (learn to) fear Allah. |
Concepts/Themes Covered: أركان الإسلام > التوحيد > الشرك والمشركون > الإعراض عن المشركين المستهزئين Pillars of Islam> Islamic> Polytheism and the Polytheists> The Avoidance from the Mockering Polytheists أركان الإسلام > التوحيد > الكافرون > وجوب الاعراض عن الكفار Pillars of Islam> Islamic> The Disbelievers> The Prohibition to avoid the Atheists الدعوة إلى الله > وجوبها > وجوبها على كل مسلم The Call for Allah> Its Necessity> Its Necessity by Every Moslem الديانات > أهل الكتاب: ( اليهود و النصارى) > وجوب التساهل معهم(مع غير المحاربين) Religions> The People of the Book (the Jews and the Christians)> The Necessity to be Easy with them (with the Non-Fighters)
This tool uses eight English parallel translations for the Holy Quran imported from Mr. Clay Smith. You can also visit Qurany Concepts for browsing the Quran themes or topics. If you want to search the Holy Quran for keywords, please visit Qurany Keywords.


|
JavaTM 2 Platform Standard Ed. 5.0 |
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| PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
| SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
public interface SQLOutput
The output stream for writing the attributes of a user-defined type back to the database. This interface, used only for custom mapping, is used by the driver, and its methods are never directly invoked by a programmer.
When an object of a class implementing the interface
SQLData
is passed as an argument to an SQL statement, the
JDBC driver calls the method SQLData.getSQLType
to
determine the kind of SQL
datum being passed to the database.
The driver then creates an instance of SQLOutput
and
passes it to the method SQLData.writeSQL
.
The method writeSQL
in turn calls the
appropriate SQLOutput
writer methods
writeBoolean
, writeCharacterStream
, and so on)
to write data from the SQLData
object to
the SQLOutput
output stream as the
representation of an SQL user-defined type.
| Method Summary | |
|---|---|
void |
writeArray(Array x)
Writes an SQL ARRAY value to the stream. |
void |
writeAsciiStream(InputStream x)
Writes the next attribute to the stream as a stream of ASCII characters. |
void |
writeBigDecimal(BigDecimal x)
Writes the next attribute to the stream as a java.math.BigDecimal object. |
void |
writeBinaryStream(InputStream x)
Writes the next attribute to the stream as a stream of uninterpreted bytes. |
void |
writeBlob(Blob x)
Writes an SQL BLOB value to the stream. |
void |
writeBoolean(boolean x)
Writes the next attribute to the stream as a Java boolean. |
void |
writeByte(byte x)
Writes the next attribute to the stream as a Java byte. |
void |
writeBytes(byte[] x)
Writes the next attribute to the stream as an array of bytes. |
void |
writeCharacterStream(Reader x)
Writes the next attribute to the stream as a stream of Unicode characters. |
void |
writeClob(Clob x)
Writes an SQL CLOB value to the stream. |
void |
writeDate(Date x)
Writes the next attribute to the stream as a java.sql.Date object. |
void |
writeDouble(double x)
Writes the next attribute to the stream as a Java double. |
void |
writeFloat(float x)
Writes the next attribute to the stream as a Java float. |
void |
writeInt(int x)
Writes the next attribute to the stream as a Java int. |
void |
writeLong(long x)
Writes the next attribute to the stream as a Java long. |
void |
writeObject(SQLData x)
Writes to the stream the data contained in the given SQLData object. |
void |
writeRef(Ref x)
Writes an SQL REF value to the stream. |
void |
writeShort(short x)
Writes the next attribute to the stream as a Java short. |
void |
writeString(String x)
Writes the next attribute to the stream as a String
in the Java programming language. |
void |
writeStruct(Struct x)
Writes an SQL structured type value to the stream. |
void |
writeTime(Time x)
Writes the next attribute to the stream as a java.sql.Time object. |
void |
writeTimestamp(Timestamp x)
Writes the next attribute to the stream as a java.sql.Timestamp object. |
void |
writeURL(URL x)
Writes a SQL DATALINK value to the stream. |
| Method Detail |
|---|
void writeString(String x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeBoolean(boolean x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeByte(byte x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeShort(short x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeInt(int x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeLong(long x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeFloat(float x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeDouble(double x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeBigDecimal(BigDecimal x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeBytes(byte[] x) throws SQLException
String
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeDate(Date x) throws SQLException
java.sql.Date
object
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeTime(Time x) throws SQLException
java.sql.Date
object
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeTimestamp(Timestamp x) throws SQLException
java.sql.Date
object
in the Java programming language.
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeCharacterStream(Reader x) throws SQLException
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeAsciiStream(InputStream x) throws SQLException
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeBinaryStream(InputStream x) throws SQLException
x
- the value to pass to the database
SQLException
- if a database access error occursvoid writeObject(SQLData x) throws SQLException
SQLData
object.
When the SQLData
object is null
, this
method writes an SQL NULL
to the stream.
Otherwise, it calls the SQLData.writeSQL
method of the given object, which
writes the object's attributes to the stream.
The implementation of the method SQLData.writeSQ
calls the appropriate SQLOutput
writer method(s)
for writing each of the object's attributes in order.
The attributes must be read from an SQLInput
input stream and written to an SQLOutput
output stream in the same order in which they were
listed in the SQL definition of the user-defined type.
x
- the object representing data of an SQL structured or
distinct type
SQLException
- if a database access error occursvoid writeRef(Ref x) throws SQLException
REF
value to the stream.
x
- a Ref
object representing data of an SQL
REF
value
SQLException
- if a database access error occursvoid writeBlob(Blob x) throws SQLException
BLOB
value to the stream.
x
- a Blob
object representing data of an SQL
BLOB
value
SQLException
- if a database access error occursvoid writeClob(Clob x) throws SQLException
CLOB
value to the stream.
x
- a Clob
object representing data of an SQL
CLOB
value
SQLException
- if a database access error occursvoid writeStruct(Struct x) throws SQLException
x
- a Struct
object representing data of an SQL
structured type
SQLException
- if a database access error occursvoid writeArray(Array x) throws SQLException
ARRAY
value to the stream.
x
- an Array
object representing data of an SQL
ARRAY
type
SQLException
- if a database access error occursvoid writeURL(URL x) throws SQLException
DATALINK
value to the stream.
x
- a java.net.URL
object representing the data
of SQL DATALINK type
SQLException
- if a database access error occurs
|
JavaTM 2 Platform Standard Ed. 5.0 |
|||||||||
| PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
| SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
Copyright © 2004, 2010 Oracle and/or its affiliates. All rights reserved. Use is subject to license terms. Also see the documentation redistribution policy.


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"""
Autonomous module.
This module contains classes and functions for autonomous, which is designed as
a finite-state automaton updated per tick in autonomousPeriodic.
Autonomous transitions between these states:
- **init**: The robot closes the claw, fully lowers the lift, and
transitions onto the **turn** state to angle toward the next waypoint.
- **turn**: The swerve modules (not the entire chassis) angle toward the
next waypoint, then transitions into the drive state
- **drive**: The robot drives over to the next waypoint, then transitions
into the turning state or the lifting state if there are no other
waypoints.
- **lift**: the RD4B lifts to a predetermined height (either the height of
the scale or switch), then transitions to the target states.
- **target-turn**: Turns the entire chassis towards the target (either the
switch or the scale).
- **target-drive**: Drives the robot towards the target. This differs
slightly from the normal **drive** state because it uses sensors to be
more accurate.
- **drop**: The claw opens.
"""
import math
import wpilib
import numpy as np
from collections import deque
[docs]class Autonomous:
"""
This class implements a finite-state automaton for controlling autonomous.
Also, this class includes a way to input waypoint coordinates into a
a template to be automatically selected and formatted as necessary.
Parameters:
robot: the robot instance.
robot_position: the position of the robot on the field.
"""
#: Dictionary of paths (arrays of waypoints). The right one is chosen
#: at runtime.
PATHS = {
"default": [
(-24, 0),
(-24, 24),
(-60, 24),
(-60, 0),
(0, 0)
],
"1": [
# change this
(-40, -40),
(-20, 10),
(20, 0),
(40, -10),
(0, 0),
(40, 40),
(30, 30)
],
"2": [
# add waypoints here.
],
"3": [] # etc
}
##################################################################
# Internal code starts here.
##################################################################
turn_angle_tolerance = 2.5 #: a tolerance range for turning, in degrees.
drive_dist_tolerance = 3 #: a tolerance range for driving, in inches.
lift_height_tolerance = 2 #: a tolerance range for lifting, in inches.
drive_speed = 100 #: how fast to drive, in native units per 100ms
init_lift_height = 6 #: initial lift height, in inches above the ground.
def __init__(self, robot, robot_position):
"""
Initialize autonomous.
This constructor mainly initializes the software.
The correct path is chosen from SmartDashboard and initialized into
numpy-based waypoints. The current position is set. Then, the state
is set to 'init' and physical initializations are done there.
"""
# basic initalization.
self.robot = robot
self.target = None
self.target_height = 36 # inches -- set this according to target
self.final_drive_dist = 6 # inches
self.robot.drivetrain.reset_drive_position()
# get preferences and the field string from the Game Data API.
ds = wpilib.DriverStation.getInstance()
field_string = ds.getGameSpecificMessage()
prefs = wpilib.Preferences.getInstance()
if field_string == "": # this only happens during tests
field_string = 'LLL'
# Get the corresponding path of the given field string from preferences
path = self.PATHS[prefs.getString(field_string, backup='default')]
self.waypoints = [np.asarray(point) for point in path]
# set current position. TODO: implement.
self.current_pos = np.array([0, 0])
# active waypoint: the waypoint we are currently headed towards.
self.active_waypoint_idx = 0
self.state = 'init'
self.__module_angle_err_window = deque([], 30)
[docs] def state_init(self):
"""
Perform robot-oriented initializations.
Close the claw and set the lift to its lowest position, then transition
into the turning state.
"""
# self.robot.claw.close() # put claw into 'closing' state
# self.robot.lift.set_height(self.init_lift_height)
# if everything is set correctly, transition to the turning state.
# if (
# self.robot.claw.state == 'closed'
# and abs(self.robot.lift.get_height() - self.init_lift_height)
# <= self.lift_height_tolerance
# ):
self.robot.drivetrain.set_all_module_angles(0)
self.robot.drivetrain.set_all_module_speeds(0, direct=True)
self.state = 'turn'
[docs] def state_turn(self):
"""
Turn the swerve modules to their desired angle.
Then transition into the `drive` state.
"""
# stop the drivetrain. Otherwise the robot will do weird curves.
self.robot.drivetrain.set_all_module_speeds(0, direct=True)
# get the active waypoint, and from there calculate the displacement
# vector relative to the robot's position.
active_waypoint = self.waypoints[self.active_waypoint_idx]
disp_vec = self.current_pos - active_waypoint
# trigonometry to find the angle, then set the module angles.
tgt_angle = np.arctan2(disp_vec[1], disp_vec[0])
tgt_angle += self.robot.imu.get_robot_heading()
self.robot.drivetrain.set_all_module_angles(tgt_angle)
self.robot.drivetrain.set_all_module_speeds(0, direct=True)
cur_error = np.array(
self.robot.drivetrain.get_closed_loop_error(),
dtype=np.float64
)
cur_error *= 180 / 512
max_err = np.amax(np.abs(cur_error))
self.__module_angle_err_window.append(max_err)
avg_max_err = np.mean(self.__module_angle_err_window)
if (
len(self.__module_angle_err_window) >= self.__module_angle_err_window.maxlen # noqa: E501
and avg_max_err < self.turn_angle_tolerance
):
self.robot.drivetrain.reset_drive_position()
self.state = 'drive'
[docs] def state_drive(self):
"""
Drive toward a waypoint.
Calculate the distance, then move the modules that distance.
"""
# get active waypoint and calculate displacement vector.
active_waypoint = self.waypoints[self.active_waypoint_idx]
disp_vec = self.current_pos - active_waypoint
# calculate distance with pythagorean theorem
dist = np.sqrt(np.sum(disp_vec**2))
tgt_angle = np.arctan2(disp_vec[1], disp_vec[0])
tgt_angle += self.robot.imu.get_robot_heading()
self.robot.drivetrain.set_all_module_angles(tgt_angle)
# get the average distance the robot has gone so far
avg_dist = np.mean(self.robot.drivetrain.get_module_distances())
avg_dist *= (4 * math.pi) / (80 * 6.67)
self.robot.drivetrain.set_all_module_speeds(self.drive_speed, True)
# is the distance traveled somewhere close to the distance needed to
# travel?
if abs(avg_dist - dist) <= self.drive_dist_tolerance:
# do we have waypoints left to drive to?
self.active_waypoint_idx += 1
# update the new current position as the active waypoint.
self.current_pos = active_waypoint
# do we still have waypoints left to go?
if self.active_waypoint_idx < len(self.waypoints):
self.__module_angle_err_window.clear()
self.robot.drivetrain.reset_drive_position()
self.state = 'turn'
else:
self.state = 'lift'
[docs] def state_lift(self):
"""
Lift the RD4B to the height needed.
Then transition to the target states for final adjustments.
"""
# stop the drivetrain.
self.robot.drivetrain.set_all_module_speeds(0, True)
# set the height of the RD4B.
self.robot.lift.set_height(self.target_height)
# is the height there yet? if so, transition.
if (
abs(self.robot.lift.get_height() - self.target_height)
<= self.lift_height_tolerance
):
self.state = 'target-turn'
[docs] def state_target_turn(self):
"""
Complete a targeted, measured turn towards the target, turning the
entire chassis this time instead of just each module.
"""
# the usual displacement stuff.
disp_vec = self.current_pos - self.target
tgt_angle = np.arctan2(disp_vec[1], disp_vec[0])
# we are actually going to turn the whole chassis this time, using the
# navx to ensure we are doing things correctly.
self.robot.drivetrain.turn_to_angle(self.robot.imu, tgt_angle)
hdg = self.robot.imu.get_robot_heading()
# if we are at the proper angle now, move to the target-drive state.
if abs(hdg - math.degrees(tgt_angle)) <= self.turn_angle_tolerance:
self.robot.drivetrain.set_all_module_speeds(0, True)
self.state = 'target-drive'
[docs] def state_target_drive(self):
"""
Drive a measured distance towards the target.
This should position the claw, with the cube, right over the switch or
scale.
"""
avg_dist = np.mean(self.robot.drivetrain.get_module_distances())
self.robot.drivetrain.set_all_module_angles(0)
self.robot.drivetrain.set_all_module_speeds(self.drive_speed, True)
if abs(avg_dist - self.final_drive_dist) <= self.drive_dist_tolerance:
self.state = 'drop'
[docs] def state_drop(self):
"""
Open the claw and drop the cube.
"""
self.robot.drivetrain.set_all_module_speeds(0, True)
self.robot.claw.open()
#: Maps state names to functions.
state_table = {
'init': state_init,
'turn': state_turn,
'drive': state_drive,
'lift': state_lift,
'target-turn': state_target_turn,
'target-drive': state_target_drive,
'drop': state_drop
}
[docs] def periodic(self):
"""
Updates and progresses the autonomous state machine.
"""
# TODO: Only run autonomous if in Drive or Turn states;
# this is for testing purposes only.
if (
self.state == "init" or
self.state == "drive" or
self.state == "turn"
):
# Call function corresponding to current state.
self.state_table[self.state](self)
else:
self.robot.drivetrain.set_all_module_speeds(0, direct=True)
[docs] def update_smart_dashboard(self):
"""
Periodically call this function to update the smartdashboard with
important information about the autonomous class, for troubleshooting/
monitoring purposes.
"""
wpilib.SmartDashboard.putString(
'autonomous state',
self.state
)
wpilib.SmartDashboard.putString(
'Current Auto Position',
str(self.current_pos)
)
if self.active_waypoint_idx < len(self.waypoints):
active_waypoint = self.waypoints[self.active_waypoint_idx]
wpilib.SmartDashboard.putString(
'Active Waypoint',
str(active_waypoint)
)


Volunteering made social. Compete with local volunteers to bring about change! Earn DeedCoins and gain the respect of your peers, all while supporting your local community!


"Hello! Fellow Adventurer"
SURVIVAL CAMP GLOBAL SUMMIT 2022
A joyful camp believing in the value of openness and sharing, creating a positive change with people from over 80 countries is taking place in October, in USA.
2022.10.15(THU) ~ 18(SUN)
@ Yosemite National Park in California's Sierra Nevada mountains.
Activities
-
Camping
Lorem ipsum dolor sit amet consectetur adipisicing elit. Doloribus, harum.
-
Hiking
Lorem ipsum dolor sit amet consectetur adipisicing elit. Doloribus, harum.
-
Star Gazing
Lorem ipsum dolor sit amet consectetur adipisicing elit. Doloribus, harum.
-
Wildlife Photography
Lorem ipsum dolor sit amet consectetur adipisicing elit. Doloribus, harum.
-
Mastering Techniques
Lorem ipsum dolor sit amet consectetur adipisicing elit. Doloribus, harum.


Getting Setup
There are a few things that we use during the course that we ask you to download/set up for both the practice challenges and the course in general.
Browser: Chrome
We’ll be using Chrome to preview and test our websites, as it has the best developer tools. Download the latest version of Google Chrome
If you for some reason can’t download Chrome, we recommend Firefox as the next best option.
Online Code Editor: CodePen
Next you will need a CodePen account. CodePen is a great site for testing code when you don’t want to set up a folder and files for tiny snippets of code. Go to http://codepen.io/ and click on the Sign Up button on the top right corner. Scroll to the Free Plan and Sign Up.
We’ll be using codepen for the first 6 days of the course to learn new coding concepts or play with ideas straight from the browser.
Code Editor: Atom
Go to https://atom.io/ download the latest version.
Atom is the code editor that we are using to write code and build your website projects. You can write code in any text editor (even simple applications like text-edit) but code editors like Atom have additional functionality that makes web development easier, like code hints and color coding the syntax.
If you don’t want to publish your final project live, you won’t need Atom so you can ignore this step.
Course Outline
Day 1 - We’ll look at how to start coding in HTML and the basic sytax of html elements, including headings, paragraphs and links.
Day 2 - We’ll learn how to use CSS to style those elements, changing the fonts, colors, and more
Day 3 - Let’s dig deeper into styling typography!
Day 4 - We’ll learn how to create columns and grids, to make beautiful layouts
Day 5 - We’ll learn how to embed youtube videos or google maps into your site responsively and look at optimising images for the web.
Day 6 - We’ll build a custom splash page (mini website page) together from start to finish
Day 7 - We’ll upload it to a free hosting profiler and connect it to a custom domain name (if you have one)
Excited yet?
Each day we’ll share a new video and a dedicated post in the FB community for you to ask questions, share your insights and experiences and towards the second half of the week share what you have built!


I hereby certify that
a {{entityDescription}} duly incorporated under the laws of the
Province of British Columbia on {{formatted_founding_date}} is, according to the records
of this office, a valid and existing {{entityDescription}}.
Issued under my hand at Victoria, British Columbia
on {{ report_date }}


{% extends 'base.html' %} {% block content %}
Unregistered User, You can use the register button to go to registration page or log in using your credentials
{{description}}


Your flag is very important to us
To join the queue, please click and hold to move up the queue.
seconds left


Black Box Optimization Problem¶
Overview¶
minimize simulator(a, b)
s.t. 0 <= a <= 1, a is integer
1 <= b <= 2, b is continuous
This optimization problem is a kind of the mixed integer constrained Black Box Optimization programming. This problem can be formulated using flopt as follows,
from flopt import Variable, CustomObject, Problem, Solver
# variables
a = Variable(name='a', lowBound=0, upBound=1, cat='Integer')
b = Variable(name='b', lowBound=1, upBound=2, cat='Continuous')
# objective function
def simulator(a, b):
return simulator_func(a, b)
custom_obj = CustomObject(func=user_func, variables=[a, b])
# problem
prob = Problem(name='CustomObject')
prob += custom_obj
# solver
solver = Solver(algo='RandomSearch')
solver.setParams(timelimit=60)
prob.solve(solver, msg=true)
# get best solution
print('obj value', prob.getObjectiveValue())
print('a', a.value())
print('b', b.value())
CustomObject¶
We can create a complex objective function using CustomObject. We input two items to create CustomObject. One is the python function, and another is the list (or tuple or iterator) of variables in the same order as the arguments in the function.
def simulator(a, b):
return simulator_func(a, b)
custom_obj = CustomObject(func=user_func, variables=[a, b])
When the objective function with a list of variables as arguments, we have the following.
def obj(x):
return sin(x[0])+cos(x[1])
x0 = Variable(name='x0', lowBound=1, upBound=2, cat='Continuous')
x1 = Variable(name='x1', lowBound=1, upBound=2, cat='Continuous')
x = [x0, x1]
custom_obj = CustomObject(func=obj, variables=[x])


Not much so far, just a simple plot with mouseover highlighting and
double-click to toggle freeze state. Hoping to add click interactivity and
change the icons.
Planning to use scatterplot marks from ドッグさん's illustration on
pixiv, available
here
(accessed 2016/10/18). (pixiv, Twitter)


Ensembl Genomes supports downloading of many more correlation tables via the highly customisable BioMart data mining tool. You may find exploring this web-based data mining tool easier than extracting information from our normalised database dumps.


Have you seen missing Kye Shiel? He has not been seen for more than a week
by Adam HowlettPolice have released a new photograph of a missing 17-year-old boy from Bury St Edmunds who hasn't been seen for more than a week.
Kye Shiel was last seen in Bury St Edmunds on the morning of Tuesday, November 12.
A police spokesman said: "Officers continue to be concerned for Kye's welfare and have conducted a number of enquiries over the past week to locate him.
"They believe he is likely to still be somewhere in or around Bury St Edmunds."
Kye is described as white, 5ft 4in tall, of medium build and with short blond hair.

If you have seen Kye or know where he is, contact the duty sergeant at Bury St Edmunds Police Station on 101.


Menu bars are containers that hold multiple menus. They change the behavior and appearance
of the md-menu
directive to behave similar to an operating system provided menu.
You may place md-menu-item
s that function as controls within menu bars.
There are two modes that are exposed via the type
attribute of the md-menu-item
.
type="checkbox"
will function as a boolean control for the ng-model
attribute of the
md-menu-item
. type="radio"
will function like a radio button, setting the ngModel
to the string
value of the value
attribute. If you need non-string values, you can use
ng-value
to provide an expression (this is similar to how angular's native input[type=radio]
works.
If you want either to disable closing the opened menu when clicked, you can add the
md-prevent-menu-close
attribute to the md-menu-item
. The attribute will be forwarded to the
button
element that is generated.
Menus may be nested within menu bars. This is commonly called cascading menus.
To nest a menu place the nested menu inside the content of the md-menu-item
.


Amortization
Interest method
Is Equal Amortization?
Interest calculation period
Calculate interest for exact days in partial period ?
Repayment strategy
Moratorium Principle
Moratorium interest
Interest free period
Arrears tolerance
Day in year
Day in month
Allow fixing of the installment amount ?
Number of days a loan may be overdue before moving into arrears
Maximum number of days a loan may be overdue before becoming a NPA
Account moves out of NPA only after all arrears have been cleared?
Principle Threshold (%) for Last Installment
Is Variable Installments Allowed?
Variable Installments Minimum
Variable Installments Maximum
Is allowed to be used for providing Topup Loans?
Interest Recalculation
Is Recalculate Interest ?
Pre-closure interest calculation rule
Advance payments adjustment type
Interest recalculation compounding on
Frequency for compounding
Frequency type for compounding
Frequency day for compounding
Frequency day for compounding
Frequency Interval for compounding
Frequency for recalculate Outstanding Principle
Frequency type for recalculate
Frequency day for recalculate
Frequency day for recalculate
Frequency Interval for recalculate
Is Arrears recognization based on original schedule?
Guarantee Requirements
Is Place Guarantee Funds On-Hold?
Mandatory Guarantee: (%)
Minimum Guarantee from Own Funds: (%)
Minimum Guarantee from Guarantor Funds: (%)
Loan Tranche Details
Is Enable Multiple Disbursals?
Maximum Tranche count
Maximum allowed outstanding balance
Configurable Terms and Settings
Is Allow overriding select terms and settings in loan accounts?
Is Amortization?
Is Interest method?
Is Repayment strategy?
Is Interest calculation period?
Is Arrears tolerance?
Is Repaid every?
Is Moratorium?
Is Number of days a loan may be overdue before moving into arrears?


System Requirements
The RELOAD Editor is written in Java and the install file includes a copy of the Java Runtime Environment (JRE) which is installed under the RELOAD Editor installation directory. This JRE (v1.4.1) should not interfere with other Java Virtual Machines installed elsewhere on your system.
As the software is written in Java it will ultimately be possible to run the RELOAD Editor on any platform (mac, linux, windows), however at present only a Windows and Macintosh installer is provided. To date there has been no significant testing of the tools on Linux. In time we will seek to rectify this.
Windows Requirements
To run RELOAD Editor you should have a PC with at least the following specification:


|
Name
|
Type
|
Description
|
| category | xsd:string |
A user-visible description the category the property belongs to.
Reconfigure privilege: VApp.ApplicationConfig
|
| classId | xsd:string |
class name for this property
Valid values for classId:
Any string except any white-space characters
Reconfigure privilege: VApp.ApplicationConfig
|
| defaultValue | xsd:string |
This either contains the default value of a field (used if value is empty
string), or the expression if the type is "expression". See comment for the
|
| description | xsd:string |
A description of the field.
Reconfigure privilege: VApp.ApplicationConfig
|
| id | xsd:string |
Name of property. In the OVF environment, the property is listed as
[classId.]id[.instanceId]. The [classId.]name[.instanceId] must be unique.
This field cannot be empty for a property. Thus, it must be specified at creation
and cannot be set to the empty string.
Valid values for id:
Any string except any white-space characters
Reconfigure privilege: VApp.ApplicationConfig
|
| instanceId | xsd:string |
class name for this property
Valid values for instanceId:
Any string except any white-space characters
Reconfigure privilege: VApp.ApplicationConfig
|
| key | xsd:int |
A unique integer key for the property.
|
| label | xsd:string |
The display name for the property.
Reconfigure privilege: VApp.ApplicationConfig
|
| type | xsd:string |
Describes the valid format of the property.
A type must be one of:
- string : A generic string. Max length 65535 (64k).
- string(x..) : A string with minimum character length x.
- string(..y) : A string with maximum character length y.
- string(x..y) : A string with minimum character length x and maximum
character length y.
- string["choice1", "choice2", "choice3"] : A set of choices. " inside a choice
must be either \" or ' e.g "start\"middle\"end" or "start'middle'end" and
a \ inside a string choice must be encoded as \\ e.g. "start\\end".
- int : An integer value. Is semantically equivalent to
int(-2147483648..2147483647) e.g. signed int32.
- int(x..y): An integer value with a minimum size x and a maximum size y.
For example int(0..255) is a number between 0 and 255 both incl. This is
also a way to specify that the number must be a uint8. There is always a lower
and lower bound. Max number of digits is 100 including any sign. If exported to OVF the
value will be truncated to max of uint64 or int64.
- real : IEEE 8-byte floating-point value.
- real(x..y) : IEEE 8-byte floating-point value with a minimum size x and a
maximum size y. For example real(-1.5..1.5) must be a number between -1.5 and 1.5.
Because of the nature of float some conversions can truncate the value.
Real must be encoded acording to CIM:
RealValue = [ "+" | "-" } *decimalDigit "." 1*decimalDigit
[ ("e" | "E" ) [ "+" | "-" ] 1*decimalDigit ] ]
- boolean : A boolean. The value can be True or False
- password : A generic string. Max length 65535 (64k).
- password(x..) : A string with minimum character length x.
- password(..y) : A string with maximum character length y.
- password(x..y) : A string with minimum character length x and maximum
character length y.
- ip : An IPv4 address in dot-decimal notation or an IPv6 address in
colon-hexadecimal notation.
- ip:network : An IP address in dot-notation (IPv4) and colon-hexadecimal (IPv6)
on a particular network. The behavior of this type depends on the
ipAllocationPolicy. See below.
- expression: The default value specifies an expression that is calculated
by the system.
For properties of type 'password', the value field and default value field will
always be returned as an empty string when queried. Thus, it is a write-only property.
Typically, a client application will also render these as a text field with hidden
text and double prompting.
An expression follows the general patterns of either ${arg} or ${cmd:arg}. The
list of supported expressions are listed below:
- ${<name>} : This expression evaluates to the same value as the named
property in the parent vApp. A parent vApp is the
first vApp in the ancestry chain (resource pools are
skipped). If no parent vApp exists or the property is
not defined on the parent vApp, the expression
evaluates to the empty value.
- ${subnet:<network>} : The subnet value of the given network.
- ${netmask:<network>} : The netmask value of the given network.
- ${gateway:<network>} : The gateway value of the given network.
- ${autoIp:<network>} : An auto-assigned network address on the given
network
- ${net:<network>} : The name of the network
- ${domainName:<network>} : The DNS domain name, e.g., vmware.com, of
the given network.
- ${searchPath:<network>} : The DNS search path, e.g.,
eng.vmware.com;vmware.com, of the given
network.
- ${hostPrefix:<network>}: The host prefix on a given network, e.g.,
"voe-"
- ${dns:network}: A comma-separated string of configured network addresses
- ${httpProxy:network}: The hostname:port for a proxy on the network
- ${vimIp:} : The IP address of the VIM API provider server. This would
typical be an ESX Server or VirtualCenter Server.
A vApp will fail to start if any of the properties cannot be computed. For
example, if a property reference a gateway on a network, for which is has not
been specified. The value of the computed computation is assigned to the 'value'
field upon start of the vApp or virtual machine. The value is cleared once
the vApp or virtual machine is not-running.
The system provides three ways of specifying IP addresses:
- ip,
- ip:network type,
- ${ip:network} expression.
The ip types are typically used to specify an IP addressed to an
external system. Thus, these are not used by a virtual ethernet adapter
within the guest itself. Both the ip:network expression and the ${ip:network}
expression are intended as a way to obtain an IP address for a virtual machine
in a vApp.
The behavior of ip:network type is controlled by the ipAssignPolicy, as
described in the following table:
| Policy |
ip:<network> type |
| DHCP |
The user is not prompted to enter a value. The variable is set to the
empty string during power-on, and later updated with the IP value reported
by the guest software.
|
| Transient |
The user is not prompted to enter a value. An IP address is allocated by
the platform and is assigned to the variable which is available to the
guest. The IP address is released at power-off. |
| Fixed |
The user is prompted to enter a value. This value is available to the
guest. |
| Fixed Allocated |
The user is not prompted to enter a value. An IP address is allocated by
the platform and is assigned to the variable which is available to the
guest. The IP address remains allocated at power-off, and are only
released if the property is deleted or the vApp is destroyed. |
Reconfigure privilege: VApp.ApplicationConfig
|
| typeReference | xsd:string |
Contains extra configuration data depending on the property type. For types that
refer to network names the type reference is the managed object reference
of the network.
Since vSphere API 5.1
|
| userConfigurable | xsd:boolean |
Whether the property is user-configurable or a system property. This is not used
if the type is expression.
Reconfigure privilege: VApp.ApplicationConfig
|
| value | xsd:string |
The value of the field at deployment time. For expressions, this will contain
the value that has been computed.
Reconfigure privilege: VApp.InstanceConfig
|
|
Properties inherited from DynamicData |
| None |


Dr G-Force
Back
Front
1g
.5g
0
.5g
1g
F-B
0.00
L-R
0.00
Left
Right
1g
.5g
0
.5g
1g
Front-Back
Total
Left-Right
Please lock your screen in order to avoid reading inconsistencies!
Place your phone in a location inside your vehicle where there are no impacts in order to avoid missreads of acceleration!
Make sure that the top of the phone is looking towards the front of the car!
Make sure that when you are recreating tests the temperature, humidity and road angle are identical for more precise comparisons!
Have fun using the app!


#include <old_sm.h>
Data Fields | |
| unsigned char | type |
| unsigned char | from_index |
| unsigned char | to_index |
| short | omega |
| short | distance |
| OLD_SM_Oper * | from_op |
| OLD_SM_Oper * | to_op |
| OLD_SM_Dep * | from_next_dep |
| OLD_SM_Dep * | to_next_dep |
Definition at line 71 of file old_sm.h.
| short OLD_SM_Dep::distance |
| unsigned char OLD_SM_Dep::from_index |
| struct OLD_SM_Dep* OLD_SM_Dep::from_next_dep |
| struct OLD_SM_Oper* OLD_SM_Dep::from_op |
| short OLD_SM_Dep::omega |
| unsigned char OLD_SM_Dep::to_index |
| struct OLD_SM_Dep* OLD_SM_Dep::to_next_dep |
| struct OLD_SM_Oper* OLD_SM_Dep::to_op |
| unsigned char OLD_SM_Dep::type |


GAME PROGRESSION
- Kill monsters until you get to lvl 6
- Invest in your Area of Effect (AOE) skills
- Progress up through the quests
- Kill Griswold and save Cain (Akara gives you a neat armor)
- Continue progressing up until Mephisto
- Farm arcane crystals (Mephisto then Nihlatak), make TUs, Upgrade your stuff
- At lvl 45 : Do the chalenge lvl
- Continue progress until lvl 80+ lvl challenge 2, it will unlock a special skill at lvl 90
- Progress up until Hell difficulty
- Complete the Easy Uber dungeons levels AND Rifts to get ubers charms
- Farm in some places to get SU, Sets, and crafting items
- Complete the hard ubers ( both dungeon and rifts!)
- Repeat until you have all the hard charms and the best loot
Alternatively: HechtHeftig's thorough Newbie walkthrough
MONSTERS, CHARMS AND LEVELING
Each areas have different monster level.
Charms also have specific level requirement, here's some links to get a list of charms:
+ tsw charm list
+ Aerial's recap list (It's the text with colors around the middle of his post)
Here's the quick recap for the EXP grind:
+ EXP from lvl 1 to lvl 110: Just play the game normally
+ EXP to get to lvl 110: IotSS / A5 Red portals / End of A5 / A5 Icy Cellar
+ EXP to get to lvl 115: Torajan Jungles / Cow Level
+ EXP to get to lvl 120: K3BA / Tran Athulua / Khalimgrad / Azmodan level
+ EXP to get to lvl 125: Duncraig / Teganze / Triune
+ EXP to get to lvl 140+: Fauztinville / Bremmtown / Vizjun / Toraja / Duncraig/ Lab
Those are all the types of monsters:
- Regular Monsters → common and easy to kill
- Elite Monsters → harder, gives more loot and xp
- Veteran Monsters → dont exist anymore used to drop eyes
- Uber Monsters → common uber level enemy, hard to kill
- Super Unique Monsters → like in D2LoD, they are minibosses and bosses
- Uber Bosses → increasingly tough, drop uber charm
LOOTS AND ITEMS
Items have specific stats that are needed to have before equipping them. Always keep a few stat point to be able to equip them at all times. Some items can only be equipped by specific chars, beware of that.
Be careful before upgrading a TU item to its next tier, as the stats requirement are steep. Check their page for a indication of their stat requirements.
Look at the dexterity requirement from Tier3 to Tier4, its a huge step. Don't upgrade before checking the docs. More in the Item section.


|
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| PREV NEXT | FRAMES NO FRAMES |
| Packages that use DocumentHandle | |
|---|---|
| com.extentech.ExtenBean.swing | The ExtenBean swing package contains user interface components for the ExtenBean DataObjects. |
| com.extentech.ExtenDOC | |
| com.extentech.ExtenXLS | The ExtenXLS package contains the primary classes for working with spreadsheets. |
| com.extentech.ExtenXLS.binder | The ExtenXLS binder package contains the CellBinder API which automates mapping of data to spreadsheets. |
| com.extentech.ExtenXLS.web | The ExtenXLS.web package contains ExtenXLS Spreadsheet classes enhanced with web and database persistence capabilities. |
| Uses of DocumentHandle in com.extentech.ExtenBean.swing |
|---|
| Methods in com.extentech.ExtenBean.swing with parameters of type DocumentHandle | |
|---|---|
void |
ExtenBeanTreeNode.getTreeElements(Vector connections,
Vector ranges,
Hashtable queries,
DocumentHandle bk)
|
| Uses of DocumentHandle in com.extentech.ExtenDOC |
|---|
| Subclasses of DocumentHandle in com.extentech.ExtenDOC | |
|---|---|
class |
com.extentech.ExtenDOC.DocHandle
This is the Abstract document class which represents an atomic Document file or object. |
| Uses of DocumentHandle in com.extentech.ExtenXLS |
|---|
| Subclasses of DocumentHandle in com.extentech.ExtenXLS | |
|---|---|
class |
EncryptedWorkBookHandle
EncryptedWorkBookHandle is a WorkBookHandle that manages encrypted files. |
class |
WorkBookHandle
The WorkBookHandle provides a handle to the XLS file and includes convenience methods for working with the WorkSheets and Cell values within the XLS file. |
| Uses of DocumentHandle in com.extentech.ExtenXLS.binder |
|---|
| Methods in com.extentech.ExtenXLS.binder with parameters of type DocumentHandle | |
|---|---|
static void |
CellBinderUtils.createRDFfromOfficeWriterMappings(DocumentHandle bk,
String rdfName,
List mappings,
List ranges,
HashMap datasources)
Create an RDF from a template and a list of ranges + a data object storing element info mapped to specific cells/fieldnames RoundTrip Reporting style |
void |
ExtenXLSReportFactory.init(Object rdf,
DocumentHandle bk)
Initialize with the path to the RDF (Report Definition File) |
| Uses of DocumentHandle in com.extentech.ExtenXLS.web |
|---|
| Subclasses of DocumentHandle in com.extentech.ExtenXLS.web | |
|---|---|
class |
FileWebWorkBook
|
class |
MemeDoc
this is a Word Doc specific MemeDocument |
class |
MemeDocument
This class provides Saving and Reconstituting Documents as memes in the Extentech KB schema. |
class |
MemeWorkBook
This class provides Saving and Reconstituting WorkBooks as memes in the Extentech KB schema. |
class |
WebDoc
The WebWorkBook class provides additional functionality to the WorkBookHandle class to allow it to participate in a Service-Oriented-Architecture. |
class |
WebWorkBook
The WebWorkBook class provides additional functionality to the WorkBookHandle class to allow it to participate in a Service-Oriented-Architecture. |
| Methods in com.extentech.ExtenXLS.web that return DocumentHandle | |
|---|---|
DocumentHandle |
MemeDocument.revert()
retrieve the latest from the db and replaces current workbook |
DocumentHandle |
WebWorkBook.revertDiff()
revert current workbook to the most recent previous version |
|
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Struct NullStream (2.9.0)
Implements operator<< for all types, without any effect.
It is desirable to disable at compile-time tracing, debugging, and other low severity messages. The Google Cloud Platform C++ Libraries logging adaptors return an object of this class when the particular log-line is disabled at compile-time.
Operators
operator<<(T)
Generic do-nothing streaming operator.
| Parameters | |
|---|---|
| Name | Description |
|
T
|
typename T |
|
| Returns | |
|---|---|
| Type | Description |
NullStream & |


DADGITM
Events
Code of Conduct
Report
Github
The Official Page for DADGITM's community
Previous
Next
*proudly coded by people of DADGITM


AWARENESS & EDUCATION
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TRAINING & CAPACITY BUILDING
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Nigeria Rated Worst Country For LGBTQ+ Travellers
They examined issues such as the legality of same-sex relations in each country, whether same-sex couples can adopt there, and what protections are in place for LGBT+ workers.
by SaharaReporters, New York
Asher & Lyric, a travel website, has rated Nigeria as the worst place for LGBTQ+ people in the world.
The website compiled their list of the best and worst countries for tourists by examining LGBT+ rights in each country.
They examined issues such as the legality of same-sex relations in each country, whether same-sex couples can adopt there, and what protections are in place for LGBT+ workers.
Nigeria was given an ‘F’ grade and a score of 142. Homosexuality is illegal in Nigeria and is punished by up to 14 years in prison or the death penalty under Sharia law.
Discussion about LGBT+ rights is also criminalised in Nigeria.
Qatar, Yemen, Saudi Arabi, Tanzania, Iran, Sudan, Barbados, Malaysia and Malawi made up the top 10 most dangerous countries for LGBT+ tourists to visit.
Meanwhile, Norway came out on top of the index as the safest country for LGBT+ travellers with a score of 307 and an ‘A’ grade.
It was closely followed by Portugal and Belgium, with the United Kingdom in fourth place with a ‘B+’.


Database Introduction
Introduction
Fuel offers a driver based database abstraction layer. At the time of writing supported drivers are MySQL, MySQLi and PDO. Aside from regular database interaction, fuel also comes with a DBUtil class to perform database operations such as creating databases, adding fields and much more.
Please note that not all features are supported by every driver.
Configuration
In order to begin working with databases, you must change the database settings. The global settings, that are valid for all your environments, are defined in APPPATH/config/db.php. You define environment specific database settings in the db.php located in the appropriate environment configuration folder. The two will be merged to form the complete database configuration.
Database configurations are formated like so:
// a MySQL driver configuration
'development' => array(
'type' => 'mysqli',
'connection' => array(
'hostname' => 'localhost',
'port' => '3306',
'database' => 'fuel_db',
'username' => 'your_username',
'password' => 'y0uR_p@ssW0rd',
'persistent' => false,
'compress' => false,
),
'identifier' => '`',
'table_prefix' => '',
'charset' => 'utf8',
'enable_cache' => true,
'profiling' => false,
'readonly' => false,
'command' => '',
),
// a PDO driver configuration, using PostgreSQL
'production' => array(
'type' => 'pdo',
'connection' => array(
'dsn' => 'pgsql:host=localhost;dbname=fuel_db',
'username' => 'your_username',
'password' => 'y0uR_p@ssW0rd',
'persistent' => false,
'compress' => false,
),
'identifier' => '"',
'table_prefix' => '',
'charset' => 'utf8',
'enable_cache' => true,
'profiling' => false,
'readonly' => array('slave1', 'slave2', 'slave3'),
'command' => '',
),
'slave1' => array(
// configuration of the first production readonly slave db
),
'slave2' => array(
// configuration of the second production readonly slave db
),
'slave3' => array(
// configuration of the third production readonly slave db
),
Please note that type is required for all connections.
All Config Settings
| Setting | Type | Description |
|---|---|---|
| type | string | What type of connection to use. Can be mysql, mysqli or pdo. |
| connection | array | Connection settings array |
| connection.dsn | string | Connection DSN for PDO. |
| connection.username | string | Connection user. |
| connection.password | string | Connection password. |
| connection.persistent | boolean | Whether to initiate a persisten connection. |
| connection.compress | boolean | Whether to use client compression when using MySQL / MySQLi. |
| identifier | string | Delimiter used to quote identifiers. |
| table_prefix | string | Table prefix. |
| charset | string | Connection charset. |
| enable_cache | boolean | Whether to allow caching, will overwrite query cache settings on a connection basis. |
| profiling | boolean | Whether to add the connections queries to the profiler. |
| readonly | array|false | If you have a database in a master/slave setup, you can use this to define an array of slave connections, which will be used at random for read operations. |
| command | string | Optional SQL command to send to the database after a connection has been made. You can use this for example to change session mode settings. |
Once you have your configuration in place, it's time to use it.


3 references to childrenSet
Microsoft.PowerShell.Commands.Management (3)
commands\management\GetChildrenCommand.cs (3)
35
[Parameter(Position = 0, ParameterSetName =
childrenSet
,
231
case
childrenSet
:
299
case
childrenSet
:


I am a software engineer with over five years of professional hands-on experience with the design, implementation, and maintenance of large distributed systems, APIs, micro-services, and databases. I have full-stack experience handling front-end, back-end as well as infrastructure. Having worked in both startups and big corporations and with a variety of people and experiences, I am proficient in converting product requirements to technical requirements.
Java, Javascript (TypeScript), Erlang
Mongo DB, Dynamo DB, PostgresSQL, Redis, Elastic Search
AWS
I have a variety of hobbies that I like to indulge in. I am very keen to learn about music. I play the guitar and often like to record songs and make covers; the likes of which can be found in my YouTube channel. I also spend some of my time on multi-player online games like DOTA2 and Valorant. Other times I like to laze around and indulge myself in classic movies. 12 Angry Men and The Prestige are my favorite ones.
I had recently taken a liking for traveling, but after March 2020 pandemic, that has taken a back-seat. Thankfully just before the world-wide lockdowns, I managed to do a two-week solo bike-trip across northern Thailand where I met some amazing travellers. I do have a bucket-list of places that I want to get started on, but just waiting to see how this Covid thing pans out for now.


Created by Simon Johnson. Twitter: @simon_b_Johnson
1) Choose a title for your map
2) Cut and paste HXL tagged data below. Human readable headings are assumed to be the row above the HXL tags.
Or press this button to insert demo data
Human readable columns are assumed to the row above the HXL tags


{{blogMetadata?.description}}
Show me the links
It's me, Mario! Although I could also just be a very long quote


<button-ui>
My Button
Push Me!
Push Me!
I Have Icon
I Have Icon
I Have Colored Icon
I Have Icon
Disabled
Disabled
Disabled
Sqare Buttons
Rounded Buttons
Arrow Button
Step Forward


Use these controls to alter the color, font and logo of the banner above.
Banner markup:
Please see the project page for further information.


Job Number
Lens Type
Segment Width
DPD
NPD
A Size
DBL
Sphere
Cylinder
Axis
Add
Vertical Prism
Horizontal Prism


MacBook Air
$999.00
MacBook Air MMGF2ZP/A(2015)
$999.00
Screen: 13.3", 1440x900
1.8GHz dual-core Intel Core i5 processor
Turbo Boost up to 2.9GHz
8GB 1600MHz LPDDR3 memory
128GB SSD storage
Intel HD Graphics 6000
Delivery free 2-7 days
new MacBook
$1,599.00
MacBook MMGL2 Core M Rose Gold (2016)
$1,599.00
Screen:15", 2340x1440
1.2GHz dual-core 7th-generation Intel Core m3 processor
Turbo Boost up to 3.0GHz
8GB 1866MHz LPDDR3 memory
512GB SSD storage
Intel HD Graphics 615
Delivery free 2-7 days
new Macbook Pro
$2,799.00
MacBook Pro Touch MLH32SA/A i7 3.9GHz/16GB/512GB(2016)
$2,799.00
Screen: 15.4", 2880x1800
2.9GHz quad-core 7th-generation Intel Core i7 processor
Turbo Boost up to 3.9GHz
16GB 2133MHz LPDDR3 memory
512GB SSD storage
Radeon Pro 560 with 4GB memory
Touch Bar and Touch ID
Delivery free 2-7 days
Mac Pro
$3,999.00
Mac Pro 8-Core and Dual GPU
$3,999.00
3.0GHz 8-Core Intel Xeon E5 processor
16GB 1866MHz DDR3 ECC memory
Dual AMD FirePro D700 with 6GB
GDDR5 VRAM each
256GB PCIe-based SSD
Delivery free 2-7 days
new iMac
$2,299.00
iMac Pro 3.8GHz/2TB Storage (2017)
$2,299.00
Retina 5K 5120-by-2880 P3 display
3.8GHz quad-core 7th-generation Intel Core i5 processor
Turbo Boost up to 4.2GHz
8GB 2400MHz memory, configurable up to 64GB
2TB Fusion Drive
Radeon Pro 580 with 8GB video memory
Delivery free 2-7 days
iPad Pro 10.5"
$949.00
iPad Pro 10.5" - WiFi
$949.00
Retina display
10.5-inch LED-backlit Multi-Touch display
A10X Fusion chip with 64bit architecture Embedded M10 coprocessor
12-megapixel camera
128GB SSD storage
Built-in 30.4-watt-hour battery
1.03 pounds (677 grams)
Delivery free 2-7 days


-
-
blur the window
-
-
closes the window (can be reopened with open) if a reference is saved
-
-
focus the window
-
-
return the state of the window
| Name |
Type |
Description |
data |
object
|
from save() |
-
-
maximize the window
-
-
minimize window
| Name |
Type |
Description |
noAnimate |
boolean
|
|
-
-
move window
| Name |
Type |
Description |
x |
number
|
|
y |
number
|
|
-
open
(noFocus, noAnimate)
-
open the window
| Name |
Type |
Description |
noFocus |
boolean
|
optional
do not focus window when opened |
noAnimate |
boolean
|
optional
do not animate window when opened |
-
-
resize the window
| Name |
Type |
Description |
width |
number
|
|
height |
number
|
|
-
-
save the state of the window
Returns:
| Type |
Description |
|
object
|
data |
-
-
sends window to back of window-manager
-
-
send window to front of window-manager


Welcome to the Expense Tracker Angular Training App
We will begin by entering the credentials
Username: "James
Password: "111"
{{user.username}}
User is invalid
Username is required
Password is invalid
Wrong Password, did you read the instructions?
Getting Started
We've used Zurb's Foundation for the front end!
Documentation:
http://foundation.zurb.com/docs/
.


Hi there! I'm Morgan Evans. I am a second year Software Engineering Ph.D. student at Carnegie Mellon University in the Institute for Software Research, advised by Dr. Travis Breaux. I am broadly interested in natural language processing and requirements engineering. Currently, my research seeks to address semantic ambiguity in privacy policies.


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public class Filter
extends java.lang.Object
| Modifier and Type | Field and Description |
|---|---|
double[] |
cross_array |
boolean |
isWindowing
are we windowing
|
java.nio.DoubleBuffer |
localNoiseBuffer
buffer storing the sound that has been collected locally
|
long |
masOffset
max offset
|
int |
maxDelayassumed_NB_SAMPLE
maxDelay foreseen exepressed as a number of samples
|
double[] |
norm_array
normalised array
|
int |
norm_offset
normalized offset
|
int |
offset
time offset
|
java.nio.DoubleBuffer |
remoteNoiseBuffer
buffer storing the noise recorded by a remote device
|
| Constructor and Description |
|---|
Filter(java.nio.DoubleBuffer alocalNoiseBuffer,
java.nio.DoubleBuffer aremoteNoiseBuffer,
long maxOffset_milli_sec)
noise filtering
|
| Modifier and Type | Method and Description |
|---|---|
double |
mean(double[] a)
returns the mean
|
double |
mean(double[] a,
int start,
int end)
return the mean of a sequence
|
double |
variance(double[] a)
return the variance
|
void |
xcorr(double[] a,
double[] b)
return an array containing the cross correlation between two given sequence
|
void |
xcorr(double[] a,
double[] b,
int maxlag)
Computes the cross correlation between sequences a and b.
|
public java.nio.DoubleBuffer localNoiseBuffer
public java.nio.DoubleBuffer remoteNoiseBuffer
public int offset
public double[] cross_array
public int norm_offset
public double[] norm_array
public boolean isWindowing
public long masOffset
public int maxDelayassumed_NB_SAMPLE
public Filter(java.nio.DoubleBuffer alocalNoiseBuffer, java.nio.DoubleBuffer aremoteNoiseBuffer, long maxOffset_milli_sec)
alocalNoiseBuffer
- buffer containing the noise collected locallyaremoteNoiseBuffer
- buffer containing the noise collected by a remote buffermaxOffset_milli_sec
- max offsetpublic void xcorr(double[] a, double[] b)
a
- sequenceb
- sequencepublic void xcorr(double[] a, double[] b, int maxlag)
a
- sequenceb
- sequencemaxlag
- max lagpublic double variance(double[] a)
a
- sequencepublic double mean(double[] a)
a
- sequence of measurementspublic double mean(double[] a, int start, int end)
a
- sequencestart
- start of the sequence to considerend
- end of the sequence to consider


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Avul Pakir Jainulabdeen Abdul Kalam better known as A. P. J. Abdul Kalam; 15 October 1931 – 27 July 2015), the 11th President of India from 2002 to 2007.
Here's a time line of Dr. Kalam's life :
15 October 1931 - Born in the pilgrimage centre of Rameswaram on Pamban Island, then in the Madras Presidency and now in the State of Tamil Nadu.
1960 - Completed graduation from the Madras Institute of Technology.
1960 - Joined the Aeronautical Development Establishment of the Defence Research and Development Organisation as a scientist after becoming a member of DRDS.
1969 - Transferred to the Indian Space Research Organisation (ISRO).
1965 - First started work on an expandable rocket project independently at DRDO.
Between the 1970s and 1990s - Made an effort to develop the Polar Satellite Launch Vehicle (PSLV) and SLV-III projects, both of which proved to be successful.
July 1992 to Decenber 1992 - Served as the Chief Scientific Adviser to the Prime Minister and Secretary of the Defence Research and Development Organisation.
1998 - Along with cardiologist Soma Raju, Kalam developed a low cost coronary stent, named the "Kalam-Raju Stent".
2012 - Duo designed a rugged tablet computer for health care in rural areas, which was named the "Kalam-Raju Tablet".
25 July 2002 to 25 July 2007 - Served as the 11th President of India, succeeding K. R. Narayanan.
May 2012 - Lunched a programme for the youth of India called the What Can I Give Movement, with a central theme of defeating corruption.
2007 - Awarded Honorary Doctorate of Science by University of Wolverhampton, UK.
2009 - Awarded International von Kármán Wings Award by California Institute of Technology, USA.
2010 - Awarded Doctor of Engineering by University of Waterloo.
2011 - Awarded IEEE Honorary Membership by IEEE.
2014 - Awarded Doctor of Science by Edinburgh University, UK.
27 July 2015 - Died while delivering a lecture on "Creating a Livable Planet Earth" at the Indian Institute of Management Shillong.
"[Dr. Kalam's] death is a great loss to the scientific community. He took India to great heights. He showed the way."
If you have time, you should read more about this incredible human being on his Wikipedia entry.


Hi, I'm Vincent. I'm a recent graduate of Duke University, and am pursuing a career in software development in the Bay Area. I like Rubik's Cubes, almost all music, and mechanical keyboards. Feel free to contact me about anything!
If you are interested or just want to say hello, feel free to reach out to me through my email or any of the forms of communication provided below


image_undistort exists to handle all the odd situations image_proc doesn't quite cover. Some examples of this are
- working with images that don't have a camera_info topic
- undistortion of images using equidistant or other less common camera models
- turning a location in a distorted image into a bearing vector
If you have an image undistortion / stereo imaging problem that the library doesn't cover, create an issue and I'll look at adding it. Note that the automatic image size approach used will fail for cameras with a fov greater than 180 degrees.
This repo contains six related ros nodes-
- image_undistort_node: Undistorts and changes images intrinsics and resolution.
- stereo_info_node: Calculates the camera information needed for stereo rectification.
- stereo_undistort_node: Combines the functionality of the above two nodes to perform stereo image rectification.
- depth_node: Converts two undistorted images and their camera information into a disparity image and a pointcloud.
- dense_stereo_node: Performs the full dense stereo estimation (internally this node is just the stereo_undistort nodelet and the depth nodelet).
- point_to_bearing_node: Takes in a 2D image location and transforms it into a bearing vector.
Image undistort depends on ROS, OpenCV and Eigen. The point to bearing node also depends on NLopt (installed with apt install libnlopt-dev
) and will only be built if it is found.
The only supported output is the pinhole camera model with no distortion. Supported input models:
- Pinhole with no distortion
- Pinhole with radial-tangential distortion
- Pinhole with equidistant distortion
- Omnidirectional with no distortion
- Omindirectional with rad-tan distortion
- FOV
- Unified
- Extended Unified
- Double Sphere
image_undistort_node:
A simple node for undistorting images. Handles plumb bob (aka radial-tangential), fov and equidistant distortion models. It can either use standard ros camera_info topics or load camera models in a form that is compatible with the camchain.yaml files produced by Kalibr. Note this node can also be run as a nodelet named image_undistort/ImageUndistort
The node has several possible use cases:
- Undistort images. The default usage of the node, outputting an undistorted version of an input image.
- Modify the image resolution and intrinsics. The node supports projecting from and to any valid projection matrix and resolution.
- Provide a camera_info topic for an image. In this mode ros params are used to build a camera info message that is published in sync with the image messages. This allows the use of ros nodes that require camera info with devices and bags that do not provide it.
Parameters:
- queue size The length of the queues the node uses for topics (default: 10).
- input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
- output_camera_info_source The source to use when obtaining the output camera parameters. The possible case-insensitive options are,
- *"auto_generated"* The default value. In this mode "good" output parameters are automatically generated based on the input image. focal length is the average of fx and fy of the input, the center point is in the center of the image, R=I and translation is preserved. Resolution is set to the largest area that contains no empty pixels. The size of the output can also be modified with the scale parameter.
- *"match_input"* The output projection matrix and resolution, exactly match the inputs.
- *"ros_params"* The output camera parameters are loaded from ros parameters. See the parameters format section for further details.
- *"camera_info"* The output parameters are found through subscribing to a camera_info ros topic named output/camera_info
- input_camera_namespace If the input camera parameters are loaded from ros parameters this is the namespace that will be searched. This is needed to allow both input and output to be loaded from parameters. (default: "input_camera")
- output_camera_namespace If the output camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "output_camera").
- process_images True to output a processed image, false if only a camera_info topic should be generated. (default: true).
- undistort_image True to undistort the images, false to keep the distortion. (default: true).
- process_every_nth_frame Used to temporarily down-sample the images, if it is <= 1 every frame will be processed. (default: 1).
- output_image_type Converts the output image to the specified format, set to the empty string "" to preserve the input type. See the cv_bridge tutorial for possible format strings. (default: "").
- scale Only used if output_camera_info_source is set to "auto_generated" or "match_input". The output focal length will be multiplied by this value. If "auto_generated" is set the image size will also be increased by this factor. (default: 1.0).
- publish_tf True to publish the tf between the input and output image. If the undistortion involves changes to the rotation matrix the frame that the image is in will change. This tf gives that change. (default: true)
- output_frame The name of the frame of the output images. (default: "output_camera")
- rename_input_frame If the input frame should be renamed in the published topics and tf tree. (default: false)
- input_frame Only used if rename_input_frame is true. The name of the frame of the input images. (default: "input_camera")
- rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
Input/Output Topics
Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.
- input/image input image topic
- input/camera_info input camera info topic
- output/image output image topic
- output/camera_info output camera info topic
Loading Camera Information from ROS Parameters:
Camera information can be loaded from ROS parameters. These parameters are typically set using <rosparam file="path_to_yaml_file">. The format used by this node is compatible with the camchains generated by Kalibr. The follow steps are used when loading this information.
- A 3x3 intrinscs matrix named K is searched for. If it is found it is loaded. If it is not found a 1x4 vector named intrinsics is loaded, this contains the parameters (fx, fy, cx, cy). If neither parameters are given the node displays an error and terminates.
- A 1x2 vector named resolution is loaded which contains the parameters (width, height). Again, if not given the node displays an error and terminates.
- A 4x4 transformation matrix T is searched for. If it is found it is loaded. Otherwise it is searched for under the name T_cn_cnm1 and if found loaded. If neither are found the node continues.
- A 4x3 projection matrix P is searched for. If it is found it is loaded. If P was found but T was not, P and K are used to construct T, otherwise T is set to identity. If P was not found it is constructed from K and T.
- If an output is being loaded, the loading of parameters is completed. For input cameras the distortion properties are now loaded
- A 1xn vector D is loaded. If it is not found or is less than 5 elements long it is padded with zeros.
- A string distortion_model is loaded and converted to lower-case. If it is not found it is set to "radtan".
stereo_info_node:
A node that takes in the properties of two cameras and outputs the camera info required to rectify them so that stereo reconstruction can be performed. The rectification is performed such that only x translation is present between the cameras. The focal points are in the image centers, fx=fy and the image resolution is set to be the largest frame that contains no empty pixels. Note this node can also be run as a nodelet named image_undistort/StereoInfo
Parameters:
- queue size The length of the queues the node uses for topics (default: 10).
- input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
- first_camera_namespace If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "first_camera")
- second_camera_namespace If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "second_camera").
- scale Only used if output_camera_info_source is set to "auto_generated". The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0). rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
Input/Output Topics
Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.
- raw/first/image first input image topic, only needed if loading camera parameters from ros params (used for timing information)
- raw/second/image second input image topic, only needed if loading camera parameters from ros params (used for timing information)
- raw/first/camera_info first input camera info topic
- raw/second/camera_info second input camera info topic
- rect/first/camera_info first output camera info topic
- rect/second/camera_info second output camera info topic
stereo_undistort_node:
A node that takes in the images and properties of two cameras and outputs rectified stereo images with their corresponding camera parameters. The rectification is performed such that only x translation is present between the cameras. The focal points are in the image centers, fx=fy and the image resolution is set to be the largest frame that contains no empty pixels. Note this node can also be run as a nodelet named image_undistort/StereoUndistort
Parameters:
- queue size The length of the queues the node uses for topics (default: 10).
- input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
- first_camera_namespace If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "first_camera")
- second_camera_namespace If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "second_camera").
- scale Only used if output_camera_info_source is set to "auto_generated". The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
- process_every_nth_frame Used to temporarily down-sample the images, if it is <= 1 every frame will be processed. (default: 1).
- output_image_type Converts the output images to the specified format, set to the empty string "" to preserve the input type. See the cv_bridge tutorial for possible format strings. (default: "").
- scale The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
- T_invert Only used if loading parameters from ros params. True to invert the given transformations. (default: false)
- publish_tf True to publish the tf between the first input and output image. If the undistortion involves changes to the rotation matrix the frame that the image is in will change. This tf gives that change. (default: true)
- output_frame The name of the frame of the output images. (default: "first_camera_rect")
- rename_input_frame If the input frame should be renamed in the published topics and tf tree. (default: false)
- first_input_frame Only used if rename_input_frame is true. The name of the frame of the first input images. (default: "first_camera")
- second_input_frame Only used if rename_input_frame is true. The name of the frame of the second input images. (default: "second_camera") rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
Input/Output Topics
Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.
- raw/first/image first input image topic
- raw/second/image second input image topic
- raw/first/camera_info first input camera info topic
- raw/second/camera_info second input camera info topic
- rect/first/image first output image topic
- rect/second/image second output image topic
- rect/first/camera_info first output camera info topic
- rect/second/camera_info second output camera info topic
depth_node:
A node that takes in the rectified images and properties of two cameras and outputs a disparity image and a pointcloud. The node uses the camera_info topics to figure out which camera is the left one and which is the right one. Internally the node makes use of the opencv stereo block matcher to perform the depth estimation. Note this node can also be run as a nodelet named image_undistort/Depth
Parameters:
- queue size The length of the queues the node uses for topics. (default: 10)
- pre_filter_size The size of the prefilter used in StereoBM. (default: 9)
- pre_filter_cap The upper cap on the prefilter used in StereoBM. (default: 31)
- sad_window_size The window size used when performing the stereo matching, note the efficientcy of the implementation reduces if this value is greater than 21 (default: 21)
- min_disparity The minimum disparity checked in StereoBM. (default: 0)
- num_disparities The number of disparities checked in StereoBM. (default: 64)
- texture_threshold Minimum texture a patch requires to be matched in StereoBM. (default: 10)
- uniqueness_ratio Minimum margin by which the best matching disparity must 'win' in StereoBM. (default: 15)
- speckle_range Parameter used for removing speckle in StereoBM. (default: 0)
- speckle_window_size Window size used for speckle removal in StereoBM. (default: 0)
Input/Output Topics
- rect/first/image first input image topic
- rect/second/image second input image topic
- rect/first/camera_info first input camera info topic
- rect/second/camera_info second input camera info topic
- disparity output disparity image
- pointcloud output pointcloud
dense_stereo_node:
A node for producing dense stereo images. Internally this node simply combines 2 nodelets.
- image_undistort/StereoUndistort Used to set up the stereo system and rectify the images.
- image_undistort/Depth Generates disparity images and pointclouds from the rectified images.
Parameters:
- queue size The length of the queues the node uses for topics (default: 10).
- input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
- first_camera_namespace If the first camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "first_camera")
- second_camera_namespace If the second camera parameters are loaded from ros parameters this is the namespace that will be searched. (default: "second_camera").
- scale Only used if output_camera_info_source is set to "auto_generated". The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
- T_invert Only used if loading parameters from ros params. True to invert the given transformations. (default: false)
- process_every_nth_frame Used to temporarily down-sample the images, if it is <= 1 every frame will be processed. (default: 1).
- output_image_type Converts the output images to the specified format, set to the empty string "" to preserve the input type. See the cv_bridge tutorial for possible format strings. (default: "").
- scale The output focal length will be multiplied by this value. This has the effect of resizing the image by this scale factor. (default: 1.0).
- publish_tf True to publish the tf between the first input and output image. If the undistortion involves changes to the transformation matrix the frame that the image is in will change, this occurs during most image rectifications. This tf gives that change. (default: true)
- output_frame The name of the frame of the output images. (default: "first_camera_rect")
- rename_input_frame If the input frame should be renamed in the published topics and tf tree. (default: false)
- first_input_frame Only used if rename_input_frame is true. The name of the frame of the first input images. (default: "first_camera")
- second_input_frame Only used if rename_input_frame is true. The name of the frame of the second input images. (default: "second_camera") rename_radtan_plumb_bob If true the radial-tangential distortion model will be called "plumb_bob" in the output camera_info, this is needed by some ros image processing nodes. If false it will be called "radtan". (default: false).
- pre_filter_size The size of the prefilter used in StereoBM. (default: 9)
- pre_filter_cap The upper cap on the prefilter used in StereoBM. (default: 31)
- sad_window_size The window size used when performing the stereo matching, note the efficientcy of the implementation reduces if this value is greater than 21 (default: 21)
- min_disparity The minimum disparity checked in StereoBM. (default: 0)
- num_disparities The number of disparities checked in StereoBM. (default: 64)
- texture_threshold Minimum texture a patch requires to be matched in StereoBM. (default: 10)
- uniqueness_ratio Minimum margin by which the best matching disparity must 'win' in StereoBM. (default: 15)
- speckle_range Parameter used for removing speckle in StereoBM. (default: 0)
- speckle_window_size Window size used for speckle removal in StereoBM. (default: 0)
Input/Output Topics
Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.
- raw/first/image first input image topic
- raw/second/image second input image topic
- raw/first/camera_info first input camera info topic
- raw/second/camera_info second input camera info topic
- rect/first/image first output rectified image topic
- rect/second/image second output rectified image topic
- rect/first/camera_info first output camera info topic
- rect/second/camera_info second output camera info topic
- disparity output disparity image topic
- pointcloud output pointcloud topic
point_to_bearing_node:
A node for converting a point in a distorted image to a unit bearing vector.
Parameters:
- queue size The length of the queues the node uses for topics (default: 10).
- input_camera_info_from_ros_params If false the node will subscribe to a camera_info ros topic named input/camera_info to obtain the input camera parameters. If true the input camera parameters will be loaded from ros parameters. See the parameters format section for further details. (default: false).
Input/Output Topics
Many of these topics are dependent on the parameters set above and may not appear or may be renamed under some settings.
- input/camera_info camera info topic
- image_point input location of the point of interest in the image
- bearing unit bearing to point