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| /////////////////////////////////////////////////////////////////////////////// | ||
| /// | ||
| /// $Id$ | ||
| /// | ||
| /// Copyright (c) 1987- JSK, The University of Tokyo. All Rights Reserved. | ||
| /// | ||
| /// This software is a collection of EusLisp code for robot applications, | ||
| /// which has been developed by the JSK Laboratory for the IRT project. | ||
| /// For more information on EusLisp and its application to the robotics, | ||
| /// please refer to the following papers. | ||
| /// | ||
| /// Toshihiro Matsui | ||
| /// Multithread object-oriented language euslisp for parallel and | ||
| /// asynchronous programming in robotics | ||
| /// Workshop on Concurrent Object-based Systems, | ||
| /// IEEE 6th Symposium on Parallel and Distributed Processing, 1994 | ||
| /// | ||
| /// Permission to use this software for educational, research | ||
| /// and non-profit purposes, without fee, and without a written | ||
| /// agreement is hereby granted to all researchers working on | ||
| /// the IRT project at the University of Tokyo, provided that the | ||
| /// above copyright notice remains intact. | ||
| /// | ||
| // author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp> | ||
|
|
||
| #pragma init (register_irtglc) | ||
|
|
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| #include "eus.h" | ||
|
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| extern pointer ___irtglc(); | ||
| static register_irtglc() | ||
| { add_module_initializer("___irtglc", ___irtglc);} | ||
|
|
||
| #define colsize(p) (intval(p->c.ary.dim[1])) | ||
| #define rowsize(p) (intval(p->c.ary.dim[0])) | ||
| #define isimage(p) ((isarray(p) && \ | ||
| p->c.ary.rank==makeint(2) && \ | ||
| (elmtypeof(p->c.ary.entity)==ELM_CHAR || \ | ||
| elmtypeof(p->c.ary.entity)==ELM_BYTE))) | ||
|
|
||
| pointer CTRANSPOSE_IMAGE_ROWS(ctx,n,argv) | ||
| register context *ctx; | ||
| register int n; | ||
| register pointer argv[]; | ||
| /* (height step src-entity &optional dst-entity) */ | ||
| { | ||
| int h,step,y; | ||
| char *src, *dst, *buf; | ||
|
|
||
| ckarg2(3,4); | ||
| h=ckintval(argv[0]); step=ckintval(argv[1]); | ||
| if (isstring(argv[2])) src=argv[2]->c.str.chars; | ||
| else src=(char*)bigintval(argv[2]); | ||
|
|
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| printf("h: %d, step: %d\n", h,step); | ||
|
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| if (n==3) { | ||
| buf=malloc(sizeof(char)*step); | ||
| for(y = 0; y < h/2; ++y) { | ||
| memcpy(buf, src + (h-y-1)*step, step); | ||
| memcpy(src + (h-y-1)*step, src + y*step, step); | ||
| memcpy(src + y*step, buf, step); | ||
| } | ||
| free(buf); | ||
| return(src); | ||
| } else { | ||
| if (isstring(argv[3])) dst=argv[3]->c.str.chars; | ||
| else dst=(char*)bigintval(argv[3]); | ||
| for(y = 0; y < h; ++y) { | ||
| memcpy(dst + y*step, src + (h-y-1)*step, step); | ||
| } | ||
| return(dst);}} | ||
|
|
||
| pointer ___irtglc(ctx,n,argv,env) | ||
| register context *ctx; | ||
| int n; | ||
| pointer argv[]; | ||
| pointer env; | ||
| { | ||
| pointer mod=argv[0]; | ||
| defun(ctx,"CTRANSPOSE-IMAGE-ROWS",mod,CTRANSPOSE_IMAGE_ROWS); | ||
| } | ||
|
|