garaemon

;; 第1回 Scheme コードバトン
;;
;; ■ これは何か？
;;   Scheme のコードをバトンのように回していき面白い物ができあがるのを楽しむ遊びです。
;;   次回 Shibuya.lisp で成果を発表します。
;;   Scheme 初心者のコードを書くきっかけに、中級者には他人のコードを読む機会になればと思います。
;;
;; ■ 2 つのルール
;;
;;   (1)自分がこれだと思える変更をコードに加えて2日以内に次の人にまわしてください。

garaemon

 <node pkg="amcl" type="amcl" name="amcl" machine="amcl-machine">
    <param name="odom_alpha1" value="5"/> <!-- dtheta -> x -->
    <param name="odom_alpha2" value="10"/> <!-- dx -> theta -->
    <param name="odom_alpha3" value="5"/> <!-- dx -> x -->
    <param name="odom_alpha4" value="5"/> <!-- dtheta -> theta -->
    <param name="odom_alpha5" value="5"/> <!-- slip -->
    <param name="update_min_d" value="0.05"/>
    <param name="update_min_a" value="0.1"/>
    <!-- for AmclNode::uniformPoseGenerator bug -->
    <param name="recovery_alpha_slow" value="0.000"/>

garaemon

;; utility functions to define class methods
(defun extract-argument-symbols (args)
  (mapcar #'(lambda (x) (if (listp x) (car x) x)) args))

(defun has-class-method-p (method class arguments)
  (let ((methods (compute-applicable-methods method (cons class arguments))))
    (dolist (m methods)
      (let ((specializers (closer-mop:method-specializers m)))
        (if (typep (car specializers) 'closer-mop:eql-specializer)
            (return-from has-class-method-p t))))

garaemon

(require :closer-mop)
(defpackage :clap-metas)

(defclass clap-metas::clap-base--meta (standard-class) ())

(defmethod closer-mop:ensure-class-using-class :around ((class null) name
                                                        &rest options
                                                        &key metaclass
                                                        direct-superclasses
                                                        &allow-other-keys)

garaemon

(defun extract-argument-symbols (args)
  (mapcar #'(lambda (x) (if (listp x) (car x) x)) args))

(defconstant +built-in-class-instances-table+
   `((arithmetic-error . ,(make-condition 'arithmetic-error))
      ...))

(defun lookup-built-in-class-object (class)
  (cdr (assoc class +built-in-class-instances-table+)))

garaemon

(defun enumerate-all-classes (&optional (result nil)
                              (prepended (list (find-class 't))))
  (if (null prepended)
      result
      (let ((subclasses (closer-mop:class-direct-subclasses (car prepended))))
        (let ((new-subclasses (remove-if
                               #'(lambda (c)
                                   (member c (append prepended result)))
                               subclasses)))
          (enumerate-all-classes (cons (car prepended) result)

garaemon

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:                                             
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage        
#  Debug          : w/ debug symbols, w/o optimization                          
#  Release        : w/o debug symbols, w/ optimization                          
#  RelWithDebInfo : w/ debug symbols, w/ optimization                           
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries       
#set(ROS_BUILD_TYPE RelWithDebInfo)                                             

garaemon

#!/usr/bin/env python

import roslib
roslib.load_manifest("sensor_msgs")
roslib.load_manifest("message_filters")
roslib.load_manifest("rxtools")
import rospy
import rxtools
import rxtools.rosplot
import sys

garaemon

# -*- coding: utf-8 -*-
require 'cairo'
require 'gtk2'

format = Cairo::FORMAT_ARGB32
width = 300
height = 200
radius = height / 3
window = Gtk::Window.new('Graph')
window.set_default_size(width, height)

garaemon

#define DICT(...) ([NSDictionary dictionaryWithObjectsAndKeys:__VA_ARGS__, nil])
#define MDICT(...) ([NSMutableDictionary dictionaryWithObjectsAndKeys:__VA_ARGS__, nil])
#define FORMAT(...) ([NSString stringWithFormat:__VA_ARGS__])
#define ARRAY(...) ([[NSArray alloc] initWithObjects:__VA_ARGS__, nil])
#define MARRAY(...) ([[NSMutableArray alloc] initWithObjects:__VA_ARGS__, nil])
#define ASSOC(D, K) ([D objectForKey:K])
#define PREDICATE(F, ...) ([NSPredicate predicateWithFormat:F, __VA_ARGS__])
#define LOCALIZED_STRING(S) (NSLocalizedString(S, S))
#define IS_VALID_STRING(s) (s && s != NULL && ![s isEqual:[NSNull null]])
#define CG_RECT_MAKE_SHORT(N) (CGRectMake(N##_X, N##_Y, N##_WIDTH, N##_HEIGHT))