solidfire.common package¶
Submodules¶
solidfire.common.model module¶
-
class
solidfire.common.model.
DataObject
(**kwargs)[source]¶ Bases:
solidfire.common.model.ModelProperty
DataObject is the base type for all generated types, including the MetaData properties, as described from the api descriptors.
-
classmethod
extract
(data, strict=True)[source]¶ Converts json to a DataObject.
Parameters: - data (str) – json data to be deserialized back to a DataObject
- strict (bool) – If True, missing values will raise an error, otherwise, missing values will None or empty.
Returns: a class deserialized from the data provided.
-
classmethod
-
class
solidfire.common.model.
MetaDataObject
(name, bases, classdict)[source]¶ Bases:
type
MetaDataObject defines a method for attributing ModelProperties to a type.
-
class
solidfire.common.model.
ModelProperty
(member_name, member_type, array=False, optional=False, documentation=None, dictionaryType=None)[source]¶ Bases:
object
ModelProperty metadata container for API data type information.
ModelProperty constructor.
Parameters: - member_name (str) – the name of the property.
- member_type (str) – the type of the property.
- array (bool) – is the property an array.
- optional (bool) – is the property optional.
- documentation (str) – documentation for the property.
-
extend_json
(out, data)[source]¶ Serialize the property as json-like structure.
Parameters: - out – the resulting output.
- data – the data to be converted.
-
extract_from
(data)[source]¶ Deserialize the property from json.
Parameters: data – the data to be converted. Returns: the extracted data.
-
solidfire.common.model.
extract
(typ, src)[source]¶ DataObject value type converter.
Parameters: - typ – the type to extract.
- src – the source to extract as type typ.
Returns: if the type has the ability to extract (convert), otherwise the original version is returned.
-
solidfire.common.model.
property
(member_name, member_type, array=False, optional=False, documentation=None, dictionaryType=None)[source]¶ Constructs the type for a DataObject property.
Parameters: - member_name (str) – the name of the property.
- member_type (type) – the type of the property.
- array (bool) – is the property an array.
- optional (bool) – is the property optional.
- documentation (str or NoneType) – documentation for the property.
Returns: the constructed type of a property
Module contents¶
API Common Library
-
exception
solidfire.common.
ApiMethodVersionError
(method_name, api_version, since, deprecated=None)[source]¶ Bases:
Exception
An ApiMethodVersionError occurs when a service method is not compatible with the version of the connected server.
ApiMethodVersionError constructor.
Parameters: - method_name (str) – name of the service method where the error occurred.
- api_version (str or float) – the version of API used to instantiate the connection to the server.
- since (str or float) – the earliest version of the API a service method is compatible.
- deprecated (str or float) – the latest version of the API that a method is compatible.
-
api_version
¶ The version of the Element API Service
-
deprecated
¶ The version a service was deprecated
-
method_name
¶ The name of the service method causing the error.
-
since
¶ The version a service was introduced
-
exception
solidfire.common.
ApiParameterVersionError
(method_name, api_version, params)[source]¶ Bases:
Exception
An ApiParameterVersionError occurs when a parameter supplied to a service method is not compatible with the version of the connected server.
ApiParameterVersionError constructor.
Parameters: - method_name (str) – name of the service method where the error occurred.
- api_version (str or float) – the version of API used to instantiate the connection to the server.
- params (list of tuple) – the list of incompatible parameters provided to a service method call. This tuple should include name, value, since, and deprecated values for each offending parameter.
-
api_version
¶ The version of the Element API Service
-
method_name
¶ The name of the service method causing the error.
-
params
¶ The parameters checked with a service call
-
violations
¶ The parameters violated with the service call
-
exception
solidfire.common.
ApiServerError
(method_name, err_json)[source]¶ Bases:
Exception
ApiServerError is an exception that occurs on the server and is passes as a response back to the sdk.
ApiServerError constructor.
Parameters: - method_name (str) – name of the service method where the error occurred.
- err_json (str) – the json formatted error received from the service.
-
error_code
¶ The numeric code for this error.
-
error_name
¶ The name of the error.
-
message
¶ A user-friendly message returned from the server.
-
method_name
¶ The name of the service method causing the error.
-
exception
solidfire.common.
ApiVersionExceededError
(api_version, current_version)[source]¶ Bases:
Exception
An ApiVersionExceededError occurs when connecting to a server with a version lower then the provided api_version.
ApiVersionExceededError constructor.
Parameters: - api_version (str or float) – the version of API used to instantiate the connection to the server.
- current_version (float) – the current version of the server.
-
api_version
¶ The version of the Element API Service
-
current_version
¶ The current version of the connected Element OS
-
exception
solidfire.common.
ApiVersionUnsupportedError
(api_version, supported_versions)[source]¶ Bases:
Exception
An ApiVersionUnsupportedError occurs when connecting to a server unable to support the provided api_version.
ApiVersionUnsupportedError constructor.
Parameters: - api_version (str or float) – the version of API used to instantiate the connection to the server.
- supported_versions (float[]) – the list of supported versions provided by a server.
-
api_version
¶ The version of the Element API Service
-
supported_versions
¶ The versions supported by the connected Element OS
-
class
solidfire.common.
CurlDispatcher
(endpoint, username, password, verify_ssl)[source]¶ Bases:
object
The CurlDispatcher is responsible for connecting, sending, and receiving data to a server.
The CurlDispatcher constructor.
Parameters: - endpoint (str) – the server URL
- username (str) – the username for authentication
- password (str) – the password for authentication
- verify_ssl (bool) – If True, ssl errors will cause an exception to be raised, otherwise, if False, they are ignored.
-
connect_timeout
(timeout_in_sec)[source]¶ Set the time to wait for a connection to be established before timeout.
Parameters: timeout_in_sec (int) – the connection timeout in seconds. Raises: ValueError – if timeout_in_sec is less than 0
-
post
(data)[source]¶ Post data to the associated endpoint and await the server’s response.
Parameters: data (str or json) – the data to be posted.
-
class
solidfire.common.
ServiceBase
(mvip=None, username=None, password=None, api_version=8.0, verify_ssl=True, dispatcher=None)[source]¶ Bases:
object
The base type for API services. This performs the sending, encoding and decoding of requests.
Constructor for initializing a connection to an instance of Element OS
Parameters: - mvip (str) – the management IP (IP or hostname)
- username (str) – username use to connect to the Element OS instance.
- password (str) – authentication for username
- api_version (float) – specific version of Element OS to connect.
- verify_ssl (bool) – disable to avoid ssl connection errors especially when using an IP instead of a hostname
- dispatcher – a prebuilt or custom http dispatcher
Returns: a configured connection to an Element OS instance
-
api_version
¶ Returns the version of the Element API
Returns: the version of the Element API Return type: float
-
connect_timeout
(timeout_in_sec)[source]¶ Set the time to wait for a connection to be established before timeout.
Parameters: timeout_in_sec (int) – the connection timeout in seconds. Raises: ValueError – if timeout_in_sec is less than 0
-
restore_timeout_defaults
()[source]¶ Restores the Connection and Read Timeout to their original durations of 300 seconds (5 minutes) each.
-
send_request
(method_name, result_type, params=None, since=None, deprecated=None, return_response_raw=False)[source]¶ Parameters: - method_name (str) – the name of the API method to call
- result_type (DataObject) – the type of the result object returned from the API method called.
- params (dict) – the parameters supplied to the API call.
- since (str or float) – the first version this service was available
- deprecated (str or float) – the final version this service was available
Returns: the result of the API service call
Return type:


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Topics range from ruminations on why Charles Dickens was among the best of writers and the worst of men to the haunting science fiction of J.G. Ballard; from the enduring legacies of Thomas Jefferson and George Orwell to the persistent agonies of anti-Semitism and jihad. Hitchens even looks at the recent financial crisis and argues for the enduring relevance of Karl Marx.
The three names on the dedication page belonged to a Tunisian street vendor, and Egyptian restaurateur, and a Libyan husband and father. In the spring of 2011, the first of them set himelf alight in the town of Sidi Bouzid, in protest at just one too many humiliations at the hands of petty officialdom. The second also took his own life as Egyptians began to rebel en masse at the stagnation and meaninglessness of Munarak's Egypt. The third, it might be said, gave his life as well as took it: loading up his modest car with petrol and homemade explosives and blasting open the gate of the Katiba barracks in Benghazi - symbolic Bastille of the detested and demented Qadafi regime in Libya.


{% extends 'base.html'%} {% block model_setup %} {% include "models_layer_setup.html" with context%} {% endblock model_setup %} {% block content %}


Math
If the simplest form of data is numbers, the easiest way to relate those numbers is through Mathematics. From simple operators like divide to trigonometric functions, to more complex formulas, Math is a great way to start exploring numeric relationships and patterns.
Arithmetic Operators
Operators are a set of components that use algebraic functions with two numeric input values, which result in one output value (addition, subtraction, multiplication, division, etc.). These can be found under Operators>Actions.
| Icon | Name | Syntax | Inputs | Outputs |
|---|---|---|---|---|
| Add | + | var[]...[], var[]...[] | var[]...[] | |
| Subtract | - | var[]...[], var[]...[] | var[]...[] | |
| Multiply | * | var[]...[], var[]...[] | var[]...[] | |
| Divide | / | var[]...[], var[]...[] | var[]...[] |
Parametric Formula
Download the example file that accompanies this exercise (Right click and "Save Link As..."): Building Blocks of Programs - Math.dyn. A full list of example files can be found in the Appendix.
From Operators, the next logical step is to combine operators and variables to form a more complex relationship through Formulas. Let's make a Formula that can be controlled by input parameters, like sliders.
- Number Sequence: define a number sequence based on three inputs: start, amount and step. This sequence represents the 't' in the parametric equation, so we want to use a list that's large enough to define a spiral.
The step above has created a list of numbers to define the parametric domain. The golden spiral is defined as the equation: = and =. The group of Nodes below represent this equation in visual programming form.
When stepping through the group of Nodes, try to pay attention to the parallel between the visual program and written equation.
- Number Slider: Add two number sliders to the canvas. These sliders will represent the a and the b variables of the parametric equation. These represent a constant which is flexible, or parameters which we can adjust towards a desired outcome.
- * : The multiplication Node is represented by an asterisk. We'll use this repeatedly to connect multiplying variables
- Math.RadiansToDegrees: The 't' values need to be translated to degrees for their evaluation in the trigonometric functions. Remember, Dynamo defaults to degrees for evaluating these functions.
- Math.Pow: as a function of the 't' and the number 'e' this creates the Fibonacci sequence.
- Math.Cos and Math.Sin: These two trigonmetric functions will differentiate the x-coordinate and the y-coordinate, respectively, of each parametric point.
- Watch: We now see that our output is two lists, these will be the x and y coordinates of the points used to generate the spiral.
From Formula to Geometry
Now, the bulk of Nodes from the previous step will work fine, but it is a lot of work. To create a more efficient workflow, have a look at Code Blocks (section <IP_ADDRESS>) to define a string of Dynamo expressions into one node. In this next series of steps, we'll look at using the parametric equation to draw the Fibonacci spiral.
- Point.ByCoordinates: Connect the upper multiplication node into the 'x' input and the lower into the 'y' input. We now see a parametric spiral of points on the screen.
- Polycurve.ByPoints: Connect Point.ByCoordinates from the previous step into points. We can leave connectLastToFirst without an input because we aren't making a closed curve. This creates a spiral which passes through each point defined in the previous step.
We've now completed the Fibonacci Spiral! Let's take this further into two separate exercises from here, which we'll call the Nautilus and the Sunflower. These are abstractions of natural systems, but the two different applications of the Fibonacci spiral will be well represented.
From Spiral to Nautilus
- As a jumping-off point, let's start with the same step from the previous exercise: creating a spiral array of points with the Point.ByCoordinates Node.
- Polycurve.ByPoints: Again, this is the Node from the pervious exercise, which we'll use as a reference.
- Circle.ByCenterPointRadius: We'll use a circle Node here with the same inputs as the previous step. The radius value defaults to 1.0, so we see an immediate output of circles. It becomes immediately legible how the points diverge further from the origin.
- Circle.ByCenterPointRadius: To create a more dynamic array of circles, we plug the original number sequence (the 't' sequence) into the radius value.
- Number Sequence: This is the original array of 't'. By plugging this into the radius value, the circle centers are still diverging further from the origin, but the radius of the circles is increasing, creating a funky Fibonacci circle graph. Bonus points if you make it 3D!
From Nautilus to Phyllotaxis Pattern
Now that we've made a circular Nautilus shell, let's jump into parametric grids. We're going to use a basic rotate on the Fibonacci Spiral to create a Fibonacci grid, and the result is modeled after the growth of sunflower seeds.
- Again, as a jumping-off point, let's start with the same step from the previous exercise: creating a spiral array of points with the Point.ByCoordinates Node.
- Geometry.Rotate: There are several Geometry.Rotate options; be certain you've chosen the Node with geometry,basePlane, and degrees as its inputs. Connect Point.ByCoordinates into the geometry input.
- Plane.XY: Connect to the basePlane input. We will rotate around the origin, which is the same location as the base of the spiral.
- Number Range: For our degree input, we want to create multiple rotations. We can do this quickly with a Number Range component. Connect this into the degrees input.
- Number: And to define the range of numbers, add three number nodes to the canvas in vertical order. From top to bottom, assign values of 0.0,360.0, and 120.0 respectively. These are driving the rotation of the spiral. Notice the output results from the Number Range node after connecting the three number nodes to the Node.
Our output is beginning to resemble a whirlpool. Let's adjust some of the Number Range parameters and see how the results change:
- Change the step size of the Number Range node from 120.0 to 36.0. Notice that this is creating more rotations and is therefore giving us a denser grid.
- Change the step size of the Number Range node from 36.0 to 3.6. This now gives us a much denser grid, and the directionality of the spiral is unclear. Ladies and gentlemen, we've created a sunflower.


Part 1: Adobe Photoshop
Part 2: Adobe Illustrator
--Part 3: Sketch
The file extension for a Photoshop files.
Raster:
Vector:
It's kind of hard to get away from Photoshop but some people do! They use:
Under the Photoshop menu.
Saved arrangements of:
Window > Workspace
Take a few minutes to customize your workspace
But first...
They're your friends
New features in CC 2017:


I am Rohit, a UI/UX developer and designer and a full-stack Javascript developer with a growing love for React. I worked in CGI, India for two years as a software engineer. Post that I trained myself as a Web Developer and embarked on the journey of a freelancer, completing multiple projects with wonderful people around the world. I’m also a general doodler with a keen eye for creating engaging UI, bringing products to life.
My repertoire includes ReactJs, Javascript, NodeJS, Postgres and design tools like Webflow, Figma and AdobeXD. I love to travel and engage with new people. I have worked with UNICEF as a volunter teacher in my early days.
View ResumeThis React App tracks the live location of wildfires, volcanos, storms, and icebergs. It is powered by NASA Api and gives us the live location and description of the events.
This is a news application which is powered by Alan-AI. It is a voice recognition react application which reads out the latest headlines from the user. The user can search news by categories, topic or preferred news-source. The backend is hosted in ALAN studio.
This is a progressive react web application that tells us the weather of a particular city. It also provides an icon for the type of weather encountered. Covered topics: React.js, Service Workers, PWA and Lighthouse.
Have an exciting project or job opportunity? Send me over a message, and let's chat.
Shoot me a mail


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"Raëlism" Relegion or Myth ?
Nishant Chauhan
August 2020
Religion is a social-cultural system of designated behaviors and practices, morals, worldviews, texts, sanctified places, prophecies, ethics, or organizations, that relates humanity to supernatural, transcendental, or spiritual elementsDifferent religions may or may not contain various elements ranging from the divine,sacred things, faith,a supernatural being or supernatural beings or "some sort of ultimacy and transcendence that will provide norms and power for the rest of life There are several kinds of relegions around the world that people preach.the include Christianity, Islam, Hinduism, Buddhism and janism. But if I tell you that there are many more relegions in around the globe and those are considered as taboo among many societies. Here you’ll be reading about one such bizzare relegion. This may even excite you if you are a sci-fi fan. This relegion is called Raëlism
"Raëlism"
Raëlism,also known as Raëlianism, is a UFO religion that was founded in 1970s France by Claude Vorilhon, now known as Raël.
Raëlism teaches that an extraterrestrial species known as the Elohim created humanity using their advanced technology. An atheistic religion, it believes that the Elohim have historically been mistaken for gods. It holds that throughout history the Elohim have created forty Elohim/human hybrids who have served as prophets preparing humanity for news about their ultimate origins. Among those listed as prophets are The Buddha, Jesus of Nazareth, and Muhammad, with Raël himself being the fortieth and final prophet. Raëlists believe that since the Hiroshima bomb of 1945, humanity has entered an Age of Apocalypse in which it is threatening itself with nuclear annihilation. It argues that humanity must find a way of harnessing new scientific and technological development for peaceful ends, and that once this has been achieved the Elohim shall return to Earth to share their technology with humanity and usher in a utopia. To this end, the Raëlians have been committed to building an embassy for the Elohim, incorporating a landing pad for the latter's spaceship. Raëlians promote a liberal ethical system with a strong emphasis on sexual experimentation, engage in daily meditation, and hope for physical immortality through human cloning.
The religion is based on the teachings of Raël. Raël's claims are taken literally by practitioners of Raëlism. Raëlism teaches that there exists an extraterrestrial species known as the Elohim. Raël stated that the word "Elohim", which is used for God in the Old Testament, is actually a plural term which he translates as meaning "those who came from the sky. Individual members of the Elohim are referred to as "Eloha" by Raël. He alleged that these aliens gave him the honorific name of "Raël". A term deriving from "Israel", and which he translates as meaning "the messenger of those who come from the sky."
"Earth’s Elohim "
Raëlism teaches that around 25,000 years ago the Elohim arrived at the Earth and terraformed it so that biological life could emerge. It states that the Elohim used their advanced technology to establish all life on the planet. Raël characterises humans as "biological robots" that have been created and programmed by the ElohimVarious figures who established or inspired religious movements throughout human history, including Jesus, the Buddha, Muhammad, and Joseph Smith, are portrayed by the Raëlians as having been guided by the Elohim. These are characterised as being 39 prophets sent to humanity at various points. Each is believed to have revealed information to humanity that they could comprehend at the given time, and Raëlism therefore emphasises the idea of progressive .
"Cloning and survival after death."
Raëlians reject the existence of the ethereal soul that survives physical death,and instead argue that the only hope for immortality is through scientific means. The Raëlians claim that the Elohim will clone and thus recreate dead individuals, but only those whom they feel merit this recreation. In this, they believe in a "conditional immortality", with immortality for a minority and oblivion for the majority. The resurrection of Jesus, as recounted in the Gospels, is for instance explained as an example of Elohim cloning.
There is much more about this relegion that if I would have covered would take a siginfcant amount time. These are just some amazing facts about this group. What is your opinion about this. Do u really think that so called ‘ELOHIM’created us. Good luck.


--- layout: default title: Home ---
Hi, I am Cameron Devine. I currently attend Saint Martin's University in Lacey, WA and study Mechanical Engineering. I hope to receive my bachelor's degree in May 2016. Currently I am taking classes in System Dynamics, Machine Design, Autodesk Inventor, and Fluid Dynamics. In the past I have taken and enjoyed classes on Mechanics of Materials, Mechatronics, and Matlab. I have recently become a tutor to share my knowledge in the lower level engineering classes. I decided to become an engineer because I already viewed myself as one. Growing up both my parents were engineers along with my Grandfather. I am actually a fourth generation engineer. In the future I hope to work on diverse projects and therefore continue to learn more about engineering and other fields.


Algorithms for Walking, Running, Swimming, Flying, and Manipulation
© Russ Tedrake, 2023
Last modified .
How to cite these notes, use annotations, and give feedback.
Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2023 semester. Lecture videos are available on YouTube.
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So far we have developed a fairly strong toolbox for planning and control with "smooth" systems -- systems where the equations of motion are described by a function $\dot{\bx} = f(\bx,\bu)$ which is smooth everywhere. But our discussion of the simple models of legged robots illustrated that the dynamics of making and breaking contact with the world are more complex -- these are often modeled as hybrid dynamics with impact discontinuities at the collision event and constrained dynamics during contact (with either soft or hard constraints).
My goal for this chapter is to extend our computational tools into this richer class of models. Many of our core tools still work: trajectory optimization, Lyapunov analysis (e.g. with sums-of-squares), and LQR all have natural equivalents.
Let's start with a warm-up exercise: trajectory optimization for the rimless wheel. We already have basically everything that we need for this, and it will form a nice basis for generalizing our approach throughout the chapter.
The rimless wheel was our simplest example of a passive-dynamic walker; it has no control inputs but exhibits a passively stable rolling fixed point. We've also already seen that trajectory optimization can be used as a tool for finding limit cycles of a smooth passive system, e.g. by formulating a direct collocation problem: \begin{align*} \find_{\bx[\cdot],h} \quad \subjto \quad & \text{collocation constraints}(\bx[n], \bx[n+1], h), \quad \forall n \in [0, N-1] \\ & \bx[0] = \bx[N], \\ & h_{min} \le h \le h_{max},\end{align*} where $h$ was the time step between the trajectory break points.
It turns out that applying this to the rimless wheel is quite straight forward. We still want to find a periodic trajectory, but now have to take into account the collision event. We can do this by modifying the periodicity condition. Let's force the initial state to be just after the collision, and the final state to be just before the collision, and make sure they are related to each other via the collision equation: \begin{align*} \find_{\bx[\cdot],h} \quad \subjto \quad & \text{collocation constraints}(\bx[n], \bx[n+1], h), \quad \forall n \in [0, N-1] \\ & \theta[0] = \gamma - \alpha, \\ & \theta[N] = \gamma + \alpha, \\ & \dot\theta[0] = \dot\theta[N] \cos(2\alpha)\\ & h_{min} \le h \le h_{max}. \end{align*} Although it is likely not needed for this simple example (since the dynamics are sufficiently limited), for completeness one should also add constraints to ensure that none of the intermediate points are in contact, $$\gamma - \alpha \le \theta[n] < \gamma + \alpha, \quad \forall n \in [1,N-1].$$
The result is a simple and clean numerical algorithm for finding the rolling limit cycle solution of the rimless wheel. Please take it for a spin:
The specific case of the rimless wheel is quite clean. But before we apply it to the compass gait, the kneed compass gait, the spring-loaded inverted pendulum, etc, then we should stop and figure out a more general form.
Recall how we modeled the dynamics of the simple legged robots. First, we derived the equations of motion (independently) for each possible contact configuration -- for example, in the spring-loaded inverted pendulum (SLIP) model we had one set of equations governing the $(x,y)$ position of the mass during the flight phase, and a completely separate set of equations written in polar coordinates, $(r,\theta)$, describing the stance phase. Then we did a little additional work to describe the transitions between these models -- e.g., in SLIP we transitioned from flight to stance when the foot first touches the ground. When simulating this model, it means that we have a discrete "event" which occurs at the moment of foot collision, and an immediate discontinuous change to the state of the robot (in this case we even change out the state variables).
The language of hybrid systems gives us a rich language for
describing systems of this form, and a suite of tools for analyzing and
controlling them. The term "hybrid systems" is a bit overloaded, here we
use "hybrid" to mean both discrete- and continuous-time, and the particular
systems we consider here are sometimes called autonomous
hybrid systems because the internal dynamics can cause the discrete changes
without any exogeneous input†
The imagery that I like to keep in my head for hybrid systems is illustrated below for a simple example of a robot's heel striking the ground. A solution trajectory of the hybrid system has a continuous trajectory inside each mode, punctuated by discrete updates when the trajectory hits the zero-level set of the guard (here the distance between the heel and the ground becomes zero), with the reset describing the discrete change in the state variables.
For this robot foot, we can decompose the dynamics into distinct modes: (1) foot in the air, (2) only heel on the ground, (3) heel and toe on the ground, (4) only toe on the ground (push-off). More generally, we will write the dynamics of mode $i$ as ${\bf f}_i$, the guard which signals the transition mode $i$ to mode $j$ as ${\bf \phi}_{i,j}$ (where $\phi_{i,j}(\bx_i) > 0$ inside mode $i$), and the reset map from $i$ to $j$ as ${\bf \Delta}_{i,j}$, as illustrated in the following figure:
Using the more general language of modes, guards, and resets, we can begin to formulate the "hybrid trajectory optimization" problem. In hybrid trajectory optimization, there is a major distinction between trajectory optimization where the mode sequence is known apriori and the optimization is just attempting to solve for the continuous-time trajectories, vs one in which we must also discover the mode sequence.
For the case when the mode sequence is fixed, then hybrid trajectory optimization can be as simple as stitching together multiple individual mathematical programs into a single mathematical program, with the boundary conditions constrained to enforce the guard/reset constraints. Using the shorthand $\bx_k$ for the state in the $k$th segment of the sequence, and $m_k$ for the mode in segment $k$, we can write: \begin{align*} \find_{\bx_k[\cdot],h_k} \quad \subjto \quad & \bx_0[0] = \bx_0, \\ \forall k, \forall n_k \in [0, N_k-1], \quad & \text{collocation constraints}_{m_k}(\bx_k[n_k], \bx_k[n_k+1], h_k[n_k]), \\ & h_{min} \le h_k[n_k] \le h_{max}, \\ \forall k\in[0,K-1] \quad & \phi_{m_k,m_{k+1}}(\bx_k[N_k]) = 0, \\ & \bx_{k+1}[0] = {\bf \Delta}_{m_k,m_{k+1}}(\bx_k[N_k]), \\ \forall k, n_k, m \in G \quad & \phi_{m_k,m}(\bx_k[n_k]) > 0. \end{align*} The constraints in the last line ensure that no trajectories intersect an unscheduled guard, and $G$ is taken to be the tuples of $k,n_k, m$ which list all guards and times except the scheduled ones. It is then natural to add control inputs (as additional decision variables), and to add an objective and any more constraints.
As a simple example of this hybrid trajectory optimization, I thought it would be fun to see if we can formulate the search for initial conditions that optimizes a basketball "trick shot". A quick search turned up this video for inspiration.
Let's start simpler -- with just a "bounce pass". We can capture the dynamics of a bouncing ball (in the plane, ignoring spin) with some very simple dynamics: $$\bq = \begin{bmatrix}x \\ z\end{bmatrix}, \qquad \ddot{\bq} = \begin{bmatrix} 0 \\ -g \end{bmatrix}.$$ During any time interval without contact of duration $h$, we can actually integrate these dynamics perfectly: $$\bx(t+h) = \begin{bmatrix} x(t) + h\dot{x}(t) \\ z(t) + h \dot{z}(t) - \frac{1}{2}gh^2 \\ \dot{x}(t) \\ \dot{z}(t) - hg \end{bmatrix}.$$ With the bounce pass, we just consider collisions with the ground, so we have a guard, ${\bf \phi}(\bx) = z,$ which triggers when $z=0$, and a reset map which assumes an elastic collision with coefficient of restitution $e$: $$\bx^+ = {\bf \Delta(\bx^-)} = \begin{bmatrix} x^- & z^- & \dot{x}^- & - e \dot{z}^- \end{bmatrix}^T.$$
We'll formulate the problem as this: given an initial ball position $(x = 0, z = 1)$, a final ball position 4m away $(x=4, z=1)$, find the initial velocity to achieve that goal in 5 seconds. Clearly, this implies that $\dot{x}(0) = 4/5.$ The interesting question is -- what should we do with $\dot{z}(0)$? There are multiple solutions -- which involve bouncing a different number of times. We can find them all with a simple hybrid trajectory optimization, using the observation that there are two possible solutions for each number of bounces -- one that starts with a positive $\dot{z}(0)$ and one with a negative $\dot{z}(0)$.
Now let's try our trick shot. I'll move our goal to $x_f = -1m, z_f = 3m,$ and introduce a vertical wall at $x=0$, and move our initial conditions back to $x_0=-.25m.$ The collision dynamics, which now must take into account the spin of the ball, are in the appendix. The first bounce is against the wall, the second is against the floor. I'll also constrain the final velocity to be down (have to approach the hoop from above). Try it out.
In this example, we could integrate the dynamics in each segment analytically. That is the exception, not the rule. But you can take the same steps with a little more code to use, e.g. direct transcription or collocation with multiple break points in each segment.
It is also possible to optimize the trajectory in a single shot by taking gradients through the guard/reset map. This method does not require an explicit mode sequence, but is prone to having local minima (since there is no gradient to "pull" the trajectory towards a guard that is not visited along the nominal trajectory).
In order to achieve this, we need to take the gradient of the cost with respect to the trajectory parameters. The methods we've developed previously for calculating gradients using the adjoint method (e.g. "backpropagation through time") in discrete and continuous time can be combined to handle the hybrid case. The derivation is almost as simple as using the continuous adjoint equation to solve (from the final time forward) for the continuous modes, and the discrete adjoint equation to handle the jump discontinuity. The only detail is that we also have to consider variations relative to the contact time; this gradient is often referred to as the "Saltation matrix".
Consider the case of two modes and one transition in our canonical hybrid system picture above. Then one could write the total cost as \begin{gather*} J_\balpha = \int_0^{t_c^-} \ell_1(\bx_1, \bu_\balpha) dt + \int_{t_c^+}^{t_f} \ell_2(\bx_2, \bu_\balpha) dt,\\ \dot{\bx}_1 = {\bf f}_1(\bx_1, \bu_\balpha), \quad \dot{\bx}_2 = {\bf f}_2(\bx_2, \bu_\balpha), \quad \bx_2(t_c^+) = {\bf \Delta}_{1,2}(\bx_1(t_c^-)). \end{gather*} We wish to take the gradient of $J$ with respect to the trajectory parameters, $\alpha$. The gradient of the first and second integrals is exactly the familiar continuous-time case, but the second integral must be initialized with $\pd{\bx_2(t_c^+)}{\alpha_i},$ which should be related to $\pd{\bx_1(t_c^-)}{\alpha_i}$ via the discrete transition. The important point is to capture the dependence of this transition not only on $\bx$ but also on $t_c$, which both depend on $\balpha.$ Writing it out we have...
There is some work to do in order to derive the equations of motion in this form. Do you remember how we did it for the rimless wheel and compass gait examples? In both cases we assumed that exactly one foot was attached to the ground and that it would not slip, this allowed us to write the Lagrangian as if there was a pin joint attaching the foot to the ground to obtain the equations of motion. For the SLIP model, we derived the flight phase and stance phase using separate Lagrangian equations each with different state representations. I would describe this as the minimal coordinates modeling approach -- it is elegant and has some important computational advantages that we will come to appreciate in the algorithms below. But it's a lot of work! For instance, if we also wanted to consider friction in the foot contact of the rimless wheel, we would have to derive yet another set of equations to describe the sliding mode (adding, for instance, a prismatic joint that moved the foot along the ramp), plus the guards which compute the contact force for a given state and the distance from the boundary of the friction cone, and on and on.
Fortunately, there is an alternative modeling approach for deriving the modes, guards, and resets for contact that is more general (though it makes the dynamics of each mode a bit more complex). We can instead model the robot in the floating-base coordinates -- we add a fictitious six degree-of-freedom "floating-base" joint connecting some part of the robot to the world (in planar models, we use just three degrees-of-freedom, e.g. $(x,z,\theta)$). We can derive the equations of motion for the floating-base robot once, without considering contact, then add the additional constraints that come from being in contact as contact forces which get applied to the bodies. The resulting manipulator equations take the form \begin{equation}\bM({\bq})\ddot{\bq} + \bC(\bq,\dot{\bq})\dot\bq = \btau_g(\bq) + \bB\bu + \sum_i \bJ_i^T(\bq) \blambda_i,\end{equation} where $\blambda_i$ are the constraint forces and $\bJ_i$ are the constraint Jacobians. Conveniently, if the guard function in our contact equations is the signed distance from contact, $\phi_i(\bq)$, then this Jacobian is simply $\bJ_i(\bq) = \pd{\phi_i}{\bq}$. I've written the basic derivations for the common cases (position constraints, velocity constraints, impact equations, etc) in the appendix. What is important to understand here is that this is an alternative formulation for the equations governing the modes, guards, and resets, but that is it no longer a minimal coordinate system -- the equations of motion are written in $2N$ state variables but the system might actually be constrained to evolve only along a lower dimensional manifold (if we write the rimless wheel equations with three configuration variables for the floating base, it still only rotates around the toe when it is in stance and is inside the friction cone). This will have implications for our algorithms.
Note that there are some subtleties about using direct collocation
methods with systems parameterized in the floating-base coordinates with
additional contact constraints -- the naive implementation of direct
collocation may not have enough degrees of freedom in the spline to
satisfy the dynamics constraints exactly at the knot points and the
collocation points.
For completeness, you might also hear the term maximal coordinates. This is the extreme case where every rigid body in the robot is parameterized with its own floating-base, and even the robot joints are implemented as constraints holding the links together. This has been used by some notable simulation engines (e.g. the Open Dynamics Engine), and may have advantages for some computational methods. But for our purposes, using the dynamics in floating-base coordinates is typically much more effective.
In our discussion of the SLIP model of running robots, we introduced a surprisingly simple but effective approach to achieving a "deadbeat" controller, with control decisions happening just once per cycle. There is a natural generalization of this idea to more general hybrid systems...
Coming soon (see
Coming soon (see
Coming soon. (for starters, see
In this exercise we use trajectory optimization to identify a limit cycle for the compass gait. We use a rather general approach: the robot dynamics is described in floating-base coordinates and frictional contacts are accurately modeled. , you are asked to code many of the constraints this optimization problem requires:
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{% extends "app.html" %} {% block content %} Home Get Application Token Get User Token
These examples will generate oauth tokens for the eBay sandbox.


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public interface PropertyAccessor
Common interface for classes that can access named properties
(such as bean properties of an object or fields in an object)
Serves as base interface for BeanWrapper
.
BeanWrapper
,
PropertyAccessorFactory.forBeanPropertyAccess(java.lang.Object)
,
PropertyAccessorFactory.forDirectFieldAccess(java.lang.Object)
| Field Summary | |
|---|---|
static String |
NESTED_PROPERTY_SEPARATOR
Path separator for nested properties. |
static char |
NESTED_PROPERTY_SEPARATOR_CHAR
|
static String |
PROPERTY_KEY_PREFIX
Marker that indicates the start of a property key for an indexed or mapped property like "person.addresses[0]". |
static char |
PROPERTY_KEY_PREFIX_CHAR
|
static String |
PROPERTY_KEY_SUFFIX
Marker that indicates the end of a property key for an indexed or mapped property like "person.addresses[0]". |
static char |
PROPERTY_KEY_SUFFIX_CHAR
|
| Method Summary | |
|---|---|
Class |
getPropertyType(String propertyName)
Determine the property type for the specified property, either checking the property descriptor or checking the value in case of an indexed or mapped element. |
TypeDescriptor |
getPropertyTypeDescriptor(String propertyName)
Return a type descriptor for the specified property: preferably from the read method, falling back to the write method. |
Object |
getPropertyValue(String propertyName)
Get the current value of the specified property. |
boolean |
isReadableProperty(String propertyName)
Determine whether the specified property is readable. |
boolean |
isWritableProperty(String propertyName)
Determine whether the specified property is writable. |
void |
setPropertyValue(PropertyValue pv)
Set the specified value as current property value. |
void |
setPropertyValue(String propertyName,
Object value)
Set the specified value as current property value. |
void |
setPropertyValues(Map<?,?> map)
Perform a batch update from a Map. |
void |
setPropertyValues(PropertyValues pvs)
The preferred way to perform a batch update. |
void |
setPropertyValues(PropertyValues pvs,
boolean ignoreUnknown)
Perform a batch update with more control over behavior. |
void |
setPropertyValues(PropertyValues pvs,
boolean ignoreUnknown,
boolean ignoreInvalid)
Perform a batch update with full control over behavior. |
| Field Detail |
|---|
static final String NESTED_PROPERTY_SEPARATOR
static final char NESTED_PROPERTY_SEPARATOR_CHAR
static final String PROPERTY_KEY_PREFIX
static final char PROPERTY_KEY_PREFIX_CHAR
static final String PROPERTY_KEY_SUFFIX
static final char PROPERTY_KEY_SUFFIX_CHAR
| Method Detail |
|---|
boolean isReadableProperty(String propertyName)
Returns false
if the property doesn't exist.
propertyName
- the property to check
(may be a nested path and/or an indexed/mapped property)
boolean isWritableProperty(String propertyName)
Returns false
if the property doesn't exist.
propertyName
- the property to check
(may be a nested path and/or an indexed/mapped property)
Class getPropertyType(String propertyName) throws BeansException
propertyName
- the property to check
(may be a nested path and/or an indexed/mapped property)
null
if not determinable
InvalidPropertyException
- if there is no such property or
if the property isn't readable
PropertyAccessException
- if the property was valid but the
accessor method failed
BeansException
TypeDescriptor getPropertyTypeDescriptor(String propertyName) throws BeansException
propertyName
- the property to check
(may be a nested path and/or an indexed/mapped property)
null
if not determinable
InvalidPropertyException
- if there is no such property or
if the property isn't readable
BeansException
Object getPropertyValue(String propertyName) throws BeansException
propertyName
- the name of the property to get the value of
(may be a nested path and/or an indexed/mapped property)
InvalidPropertyException
- if there is no such property or
if the property isn't readable
PropertyAccessException
- if the property was valid but the
accessor method failed
BeansException
void setPropertyValue(String propertyName, Object value) throws BeansException
propertyName
- the name of the property to set the value of
(may be a nested path and/or an indexed/mapped property)value
- the new value
InvalidPropertyException
- if there is no such property or
if the property isn't writable
PropertyAccessException
- if the property was valid but the
accessor method failed or a type mismatch occured
BeansException
void setPropertyValue(PropertyValue pv) throws BeansException
pv
- an object containing the new property value
InvalidPropertyException
- if there is no such property or
if the property isn't writable
PropertyAccessException
- if the property was valid but the
accessor method failed or a type mismatch occured
BeansException
void setPropertyValues(Map<?,?> map) throws BeansException
Bulk updates from PropertyValues are more powerful: This method is
provided for convenience. Behavior will be identical to that of
the setPropertyValues(PropertyValues)
method.
map
- Map to take properties from. Contains property value objects,
keyed by property name
InvalidPropertyException
- if there is no such property or
if the property isn't writable
PropertyBatchUpdateException
- if one or more PropertyAccessExceptions
occured for specific properties during the batch update. This exception bundles
all individual PropertyAccessExceptions. All other properties will have been
successfully updated.
BeansException
void setPropertyValues(PropertyValues pvs) throws BeansException
Note that performing a batch update differs from performing a single update,
in that an implementation of this class will continue to update properties
if a recoverable error (such as a type mismatch, but not an
invalid field name or the like) is encountered, throwing a
PropertyBatchUpdateException
containing all the individual errors.
This exception can be examined later to see all binding errors.
Properties that were successfully updated remain changed.
Does not allow unknown fields or invalid fields.
pvs
- PropertyValues to set on the target object
InvalidPropertyException
- if there is no such property or
if the property isn't writable
PropertyBatchUpdateException
- if one or more PropertyAccessExceptions
occured for specific properties during the batch update. This exception bundles
all individual PropertyAccessExceptions. All other properties will have been
successfully updated.
BeansException
setPropertyValues(PropertyValues, boolean, boolean)
void setPropertyValues(PropertyValues pvs, boolean ignoreUnknown) throws BeansException
Note that performing a batch update differs from performing a single update,
in that an implementation of this class will continue to update properties
if a recoverable error (such as a type mismatch, but not an
invalid field name or the like) is encountered, throwing a
PropertyBatchUpdateException
containing all the individual errors.
This exception can be examined later to see all binding errors.
Properties that were successfully updated remain changed.
pvs
- PropertyValues to set on the target objectignoreUnknown
- should we ignore unknown properties (not found in the bean)
InvalidPropertyException
- if there is no such property or
if the property isn't writable
PropertyBatchUpdateException
- if one or more PropertyAccessExceptions
occured for specific properties during the batch update. This exception bundles
all individual PropertyAccessExceptions. All other properties will have been
successfully updated.
BeansException
setPropertyValues(PropertyValues, boolean, boolean)
void setPropertyValues(PropertyValues pvs, boolean ignoreUnknown, boolean ignoreInvalid) throws BeansException
Note that performing a batch update differs from performing a single update,
in that an implementation of this class will continue to update properties
if a recoverable error (such as a type mismatch, but not an
invalid field name or the like) is encountered, throwing a
PropertyBatchUpdateException
containing all the individual errors.
This exception can be examined later to see all binding errors.
Properties that were successfully updated remain changed.
pvs
- PropertyValues to set on the target objectignoreUnknown
- should we ignore unknown properties (not found in the bean)ignoreInvalid
- should we ignore invalid properties (found but not accessible)
InvalidPropertyException
- if there is no such property or
if the property isn't writable
PropertyBatchUpdateException
- if one or more PropertyAccessExceptions
occured for specific properties during the batch update. This exception bundles
all individual PropertyAccessExceptions. All other properties will have been
successfully updated.
BeansException
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I had just gotten back from Spain with a bottle of Absinthe that my friend, Michael had urged me to buy. It seemed fine and he told me that we would have immense amounts of fun. Well, not the case at all. My cousin decided that we should take a couple of shots before Michael arrived. When Michael met my cousin and me at my house to start drinking, I felt wonderful.
As the night progressed I would continuously want cigarette after cigarette as with regular drinking. As I went outside, 5 shots later, I felt a little different. My yard was not the same as it usually was and I ran back inside to ask my cousin what she thought. She came out and agreed with me that it was different. I finished off my cigarette and returned inside. I started flirting with Michael a little more than my taste usually allows. After a while I realized that I needed to be supported by him because I could no longer hold myself up. He said that we should all go take another shot. And another. By this time I knew I wasn't feeling well because Michael's head was so blurry and weird…I couldn't focus in on anything.
I remember saying 'uh-oh' and had him carry me to the bathroom where I would remain most of the rest of the night. I made my cousin and Michael hold my hand as I threw up uncontrollably for the next couple of hours. I actually passed out at the toilet. I decided that I was probably going to die, I wasn't even a rock star and I was already passing out at the toilet. Finally, Michael carried me into my parent's room (luckily they were gone for the night) and laid me on the bed. I remember moving around and just holding my stomach all night. In the middle of the night I woke up leaned over my cousin, who resided next to me, and puked right on the floor. I didn't even care.
I went back to sleep and woke up early and puked for the whole next day.  I felt very dead. I had to go out that night, unfortunately, but when I was out in public I puked right in front of everyone. Absinthe is not fun at all, and I hope I never have to smell that horrible licorice smell again.
Experience Reports are the writings and opinions of the individual authors who submit them.
Some of the activities described are dangerous and/or illegal and none are recommended by Erowid.


airflow.hooks.hive_hooks
¶
Module Contents¶
-
airflow.hooks.hive_hooks.
HIVE_QUEUE_PRIORITIES
= ['VERY_HIGH', 'HIGH', 'NORMAL', 'LOW', 'VERY_LOW'][source]¶
-
airflow.hooks.hive_hooks.
get_context_from_env_var
()[source]¶ Extract context from env variable, e.g. dag_id, task_id and execution_date, so that they can be used inside BashOperator and PythonOperator. :return: The context of interest.
-
class
airflow.hooks.hive_hooks.
HiveCliHook
(hive_cli_conn_id='hive_cli_default', run_as=None, mapred_queue=None, mapred_queue_priority=None, mapred_job_name=None)[source]¶ Bases:
airflow.hooks.base_hook.BaseHook
Simple wrapper around the hive CLI.
It also supports the
beeline
a lighter CLI that runs JDBC and is replacing the heavier traditional CLI. To enablebeeline
, set the use_beeline param in the extra field of your connection as in{ "use_beeline": true }
Note that you can also set default hive CLI parameters using the
hive_cli_params
to be used in your connection as in{"hive_cli_params": "-hiveconf mapred.job.tracker=some.jobtracker:444"}
Parameters passed here can be overridden by run_cli’s hive_conf paramThe extra connection parameter
auth
gets passed as in thejdbc
connection string as is.- Parameters
-
static
_prepare_hiveconf
(d)[source]¶ This function prepares a list of hiveconf params from a dictionary of key value pairs.
- Parameters
d (dict) –
>>> hh = HiveCliHook() >>> hive_conf = {"hive.exec.dynamic.partition": "true", ... "hive.exec.dynamic.partition.mode": "nonstrict"} >>> hh._prepare_hiveconf(hive_conf) ["-hiveconf", "hive.exec.dynamic.partition=true", "-hiveconf", "hive.exec.dynamic.partition.mode=nonstrict"]
-
run_cli
(self, hql, schema=None, verbose=True, hive_conf=None)[source]¶ Run an hql statement using the hive cli. If hive_conf is specified it should be a dict and the entries will be set as key/value pairs in HiveConf
- Parameters
hive_conf (dict) – if specified these key value pairs will be passed to hive as
-hiveconf "key"="value"
. Note that they will be passed after thehive_cli_params
and thus will override whatever values are specified in the database.
>>> hh = HiveCliHook() >>> result = hh.run_cli("USE airflow;") >>> ("OK" in result) True
-
load_df
(self, df, table, field_dict=None, delimiter=', ', encoding='utf8', pandas_kwargs=None, **kwargs)[source]¶ Loads a pandas DataFrame into hive.
Hive data types will be inferred if not passed but column names will not be sanitized.
- Parameters
df (pandas.DataFrame) – DataFrame to load into a Hive table
table (str) – target Hive table, use dot notation to target a specific database
field_dict (collections.OrderedDict) – mapping from column name to hive data type. Note that it must be OrderedDict so as to keep columns’ order.
delimiter (str) – field delimiter in the file
encoding (str) – str encoding to use when writing DataFrame to file
pandas_kwargs (dict) – passed to DataFrame.to_csv
kwargs – passed to self.load_file
-
load_file
(self, filepath, table, delimiter=', ', field_dict=None, create=True, overwrite=True, partition=None, recreate=False, tblproperties=None)[source]¶ Loads a local file into Hive
Note that the table generated in Hive uses
STORED AS textfile
which isn’t the most efficient serialization format. If a large amount of data is loaded and/or if the tables gets queried considerably, you may want to use this operator only to stage the data into a temporary table before loading it into its final destination using aHiveOperator
.- Parameters
filepath (str) – local filepath of the file to load
table (str) – target Hive table, use dot notation to target a specific database
delimiter (str) – field delimiter in the file
field_dict (collections.OrderedDict) – A dictionary of the fields name in the file as keys and their Hive types as values. Note that it must be OrderedDict so as to keep columns’ order.
create (bool) – whether to create the table if it doesn’t exist
overwrite (bool) – whether to overwrite the data in table or partition
partition (dict) – target partition as a dict of partition columns and values
recreate (bool) – whether to drop and recreate the table at every execution
tblproperties (dict) – TBLPROPERTIES of the hive table being created
-
class
airflow.hooks.hive_hooks.
HiveMetastoreHook
(metastore_conn_id='metastore_default')[source]¶ Bases:
airflow.hooks.base_hook.BaseHook
Wrapper to interact with the Hive Metastore
-
check_for_partition
(self, schema, table, partition)[source]¶ Checks whether a partition exists
- Parameters
schema (str) – Name of hive schema (database) @table belongs to
table – Name of hive table @partition belongs to
- Partition
Expression that matches the partitions to check for (eg a = ‘b’ AND c = ‘d’)
- Return type
>>> hh = HiveMetastoreHook() >>> t = 'static_babynames_partitioned' >>> hh.check_for_partition('airflow', t, "ds='2015-01-01'") True
-
check_for_named_partition
(self, schema, table, partition_name)[source]¶ Checks whether a partition with a given name exists
- Parameters
schema (str) – Name of hive schema (database) @table belongs to
table – Name of hive table @partition belongs to
- Partition
Name of the partitions to check for (eg a=b/c=d)
- Return type
>>> hh = HiveMetastoreHook() >>> t = 'static_babynames_partitioned' >>> hh.check_for_named_partition('airflow', t, "ds=2015-01-01") True >>> hh.check_for_named_partition('airflow', t, "ds=xxx") False
-
get_table
(self, table_name, db='default')[source]¶ Get a metastore table object
>>> hh = HiveMetastoreHook() >>> t = hh.get_table(db='airflow', table_name='static_babynames') >>> t.tableName 'static_babynames' >>> [col.name for col in t.sd.cols] ['state', 'year', 'name', 'gender', 'num']
-
get_partitions
(self, schema, table_name, filter=None)[source]¶ Returns a list of all partitions in a table. Works only for tables with less than 32767 (java short max val). For subpartitioned table, the number might easily exceed this.
>>> hh = HiveMetastoreHook() >>> t = 'static_babynames_partitioned' >>> parts = hh.get_partitions(schema='airflow', table_name=t) >>> len(parts) 1 >>> parts [{'ds': '2015-01-01'}]
-
static
_get_max_partition_from_part_specs
(part_specs, partition_key, filter_map)[source]¶ Helper method to get max partition of partitions with partition_key from part specs. key:value pair in filter_map will be used to filter out partitions.
- Parameters
part_specs (list) – list of partition specs.
partition_key (str) – partition key name.
filter_map (map) – partition_key:partition_value map used for partition filtering, e.g. {‘key1’: ‘value1’, ‘key2’: ‘value2’}. Only partitions matching all partition_key:partition_value pairs will be considered as candidates of max partition.
- Returns
Max partition or None if part_specs is empty.
-
max_partition
(self, schema, table_name, field=None, filter_map=None)[source]¶ Returns the maximum value for all partitions with given field in a table. If only one partition key exist in the table, the key will be used as field. filter_map should be a partition_key:partition_value map and will be used to filter out partitions.
- Parameters
>>> hh = HiveMetastoreHook() >>> filter_map = {'ds': '2015-01-01', 'ds': '2014-01-01'} >>> t = 'static_babynames_partitioned' >>> hh.max_partition(schema='airflow', ... table_name=t, field='ds', filter_map=filter_map) '2015-01-01'
-
-
class
airflow.hooks.hive_hooks.
HiveServer2Hook
(hiveserver2_conn_id='hiveserver2_default')[source]¶ Bases:
airflow.hooks.base_hook.BaseHook
Wrapper around the pyhive library
Note that the default authMechanism is PLAIN, to override it you can specify it in the
extra
of your connection in the UI as in-
get_results
(self, hql, schema='default', fetch_size=None, hive_conf=None)[source]¶ Get results of the provided hql in target schema.
- Parameters
- Returns
results of hql execution, dict with data (list of results) and header
- Return type
-
to_csv
(self, hql, csv_filepath, schema='default', delimiter=', ', lineterminator='rn', output_header=True, fetch_size=1000, hive_conf=None)[source]¶ Execute hql in target schema and write results to a csv file.
- Parameters
csv_filepath (str) – filepath of csv to write results into.
schema (str) – target schema, default to ‘default’.
delimiter (str) – delimiter of the csv file, default to ‘,’.
lineterminator (str) – lineterminator of the csv file.
output_header (bool) – header of the csv file, default to True.
fetch_size (int) – number of result rows to write into the csv file, default to 1000.
hive_conf (dict) – hive_conf to execute alone with the hql.
-
get_records
(self, hql, schema='default')[source]¶ Get a set of records from a Hive query.
- Parameters
- Returns
result of hive execution
- Return type
>>> hh = HiveServer2Hook() >>> sql = "SELECT * FROM airflow.static_babynames LIMIT 100" >>> len(hh.get_records(sql)) 100
-
get_pandas_df
(self, hql, schema='default')[source]¶ Get a pandas dataframe from a Hive query
- Parameters
- Returns
result of hql execution
- Return type
DataFrame
>>> hh = HiveServer2Hook() >>> sql = "SELECT * FROM airflow.static_babynames LIMIT 100" >>> df = hh.get_pandas_df(sql) >>> len(df.index) 100
- Returns
pandas.DateFrame
-


Delorean is a library that provides easy and convenient datetime conversions in Python. Dealing with generating lists of datetimes, timezone shifting, and much more.
If you are having issues we would love to hear from you. Just hit me up. You can alternatively raise an issue here on Github.


Hi!
I am a
I am a master's student studying data science at the Rutgers University , The State University of New Jersey .
I love learning new things and I really enjoy designing and building systems from scratch.
I've worked primarily on web development, search, data mining, and data visualization projects. My interests include information retrieval, human-computer interaction, data visualization, machine learning, and distributed systems.
I've previously interned at Visa Inc. and John Deere. I will be joining Salesforce as a software engineering intern during summer 2016.
Check out my resume and the various links at the top of the page if you'd like to learn more about me. If you have any questions, please feel free to contact me.
I developed features for the CyberSource online payment platform.
I developed features for a search application on the solution architecture team.
I worked on data transcription and open coding analysis for a HCI project.
I am credited as one of the authors and our publication won a best paper award at SIGCHI 2015.
[Publication: SIGCHI 2015 Paper]
Coming soon!


This application demonstrates:
- Sending Online Prediction (or Inference) request to the REST API endpoint of a trained model hosted on GCP ML Engine; see model details below; Note; the income prediction is based on two scenarios only: income >50k; or income <= 50k.
- Using Google API Javascript Client Libraries to make the request from the browser.
- OAuth 2.0 authorization is needed to access the REST API, using Google Id. Click Signin for Authorization before making prediction.
- Changing the "capital_loss" parameter can greatly effect the predicted income; therefore we make this parameter adjustable for demo purpose. All other parameters are predefined and locked down as shown below, to simplify the scope.
The trained Machine Learning model is for predicting Income based on the demographic input data, as used in the 1994 Census database. An example of the input data is shown below. The model was trained and deployed on the GCP ML Engine, as described in the Google Cloud - Getting Started tutorial . No effort has been spent in tuning the model; leaving it for future exercise.
Please Signin
| Demographic | |
|---|---|
| age | 25 |
| workclass | Private |
| education | 11th |
| education_num | 7 |
| Marital_status | Never-married |
| occupation | Machine-op-inspct |
| relationship | Own-child |
| race | Black |
| gender | Male |
| capital_gain | 0 |
| hours_per_week | 40 |
| native_country | United-States |
capital_loss (type: positive integer):


Next: The ``Argument Precedence Order'' Section of a Dictionary Entry, Previous: The ``Exceptional Situations'' Section of a Dictionary Entry, Up: Interpreting Dictionary Entries
This information describes the initial value of a dynamic variable. Since this variable might change, see type restrictions in the "Value Type" section.


PART I. DEPARTMENT, GENERALLY
§28-1 Appears for State. The attorney general shall appear for the State personally or by deputy, in all the courts of record, in all cases criminal or civil in which the State may be a party, or be interested, and may in like manner appear in the district courts in such cases. [L 1866, p 16; RL 1925, §1486; RL 1935, §500; RL 1945, §1501; RL 1955, §30-1; HRS §28-1; am L 1969, c 175, §13; am L 1989, c 230, §1]
Cross References
District courts as courts of record, see §604-17.
Functions generally, see §26-7.
Attorney General Opinions
Authority to bring action against public officers, in the public interest. Att. Gen. Op. 68‑26.
Case Notes
Office of attorney general first constituted in 1846, history of the office under the Kingdom. 6 H. 718, 728 (single justice); 8 H. 572. Performance of functions by another temporarily. Early cases: See 8 H. 521, compare 3 H. 669, 5 H. 59.
Accountability for acts: 6 H. 718 (will not be held in contempt for refusing to prosecute, decision of single justice); 12 H. 124, 128-30; 26 H. 570 (liability to disbarment or suspension of government attorney for misconduct in administration of office); 21 H. 539, 549 (liability to damages); 23 H. 362 (liability to damages).
Criminal cases, prosecution by county prosecuting officers under authority of attorney general. 16 H. 769, 779‑80; 19 H. 162; 26 H. 570.
Charitable trusts, functions in connection with. 33 H. 647; 36 H. 250; 36 H. 334; 37 H. 111, 116.
Scope of functions as parens patriae of charitable trusts. 54 H. 299, 507 P.2d 724.
Section is irrelevant and attorney general is without standing as party to rate proceeding before PUC. 54 H. 663, 513 P.2d 1376.
Attorney general may represent a state employee in a civil action while prosecuting the same employee in a criminal matter. 71 H. 598, 801 P.2d 548.
Cited: 18 H. 76.


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Class: OrderItem
- Inherits:
-
ActiveRecord::Base
- Object
- ActiveRecord::Base
- OrderItem
- Defined in:
- app/models/order_item.rb
Overview
Schema Information
Table name: order_items
id :integer(4) not null, primary key
price :decimal(8, 2)
total :decimal(8, 2)
order_id :integer(4) not null
variant_id :integer(4) not null
state :string(255) not null
tax_rate_id :integer(4)
shipping_rate_id :integer(4)
shipment_id :integer(4)
created_at :datetime
updated_at :datetime
Class Method Summary (collapse)
-
+ (OrderItem) order_items_in_cart(order_id)
called in checkout process.
Instance Method Summary (collapse)
-
- (Float) adjusted_price(coupon = nil)
this is the price after coupons and anything before calculating the price + tax.
-
- (Float) amount_of_charge_is_vat
the VAT charge on an item.
-
- (Float) amount_of_charge_without_vat
the amount of an item if there were zero VAT.
-
- (none) calculate_order
forces the order to be re-calculated.
-
- (Float) calculate_total(coupon = nil)
this is the price after coupons and taxes.
-
- (Float) item_total(coupon = nil)
this is the price after coupons and taxes.
- - (Object) product_type
- - (Object) product_type_ids
-
- (Boolean) ready_to_calculate?
determines if the order item has all the attributes set and thus you can now determine the final total.
- - (Object) set_beginning_values
-
- (none) set_order_calculated_at_to_nil
if something changes to the order item and you dont want to recalculate.
- - (Object) ship_category_id
-
- (Boolean) shipped?
if the order item has been shipped it will return true.
-
- (ShippingMethod) shipping_method
shipping method for the order item.
-
- (Integer) shipping_method_id
shipping method id for the order item (use to reduce SQL calls).
- - (Object) shipping_rate_options(total_charge)
-
- (Float) tax_charge
the tax charge on an item.
Class Method Details
+ (OrderItem) order_items_in_cart(order_id)
called in checkout process. will give you the 'quantity', 'sum of all the prices' and 'sum of all the totals'
it is better to do the math in SQL than ruby
100 101 102 103 104 105 106 107 108 |
# File 'app/models/order_item.rb', line 100 def self.order_items_in_cart(order_id) find(:all, :joins => {:variant => :product }, :conditions => { :order_items => { :order_id => order_id}}, :select => "order_items.*, count(*) as quantity, products.shipping_category_id as shipping_category_id, SUM(order_items.price) as sum_price, SUM(order_items.total) as sum_total", :group => "order_items.variant_id") end |
Instance Method Details
- (Float) adjusted_price(coupon = nil)
this is the price after coupons and anything before calculating the price + tax
in the future coupons and discounts could change this value
146 147 148 149 150 151 152 |
# File 'app/models/order_item.rb', line 146 def adjusted_price(coupon = nil) ## coupon credit is calculated at the order level but because taxes we need to apply it now # => this calculation will be complete in the version of Hadean coupon_credit = coupon ? coupon.value([self.price], order) : 0.0 self.price - coupon_credit end |
- (Float) amount_of_charge_is_vat
the VAT charge on an item
190 191 192 193 |
# File 'app/models/order_item.rb', line 190 def amount_of_charge_is_vat vat_percentage = tax_rate.try(:vat_percentage) ? tax_rate.vat_percentage : 0.0 (adjusted_price * (vat_percentage / (100.0 + vat_percentage))).round_at(2) end |
- (Float) amount_of_charge_without_vat
the amount of an item if there were zero VAT
199 200 201 202 |
# File 'app/models/order_item.rb', line 199 def amount_of_charge_without_vat vat_percentage = tax_rate.try(:vat_percentage) ? tax_rate.vat_percentage : 0.0 (100.0 * adjusted_price / (100.0 + vat_percentage)).round_at(2) end |
- (none) calculate_order
forces the order to be re-calculated. If the order item has changed then the order totals need to be adjusted
114 115 116 117 118 119 120 |
# File 'app/models/order_item.rb', line 114 def calculate_order if self.ready_to_calculate? && (shipping_rate_id != @beginning_shipping_rate_id || tax_rate_id != @beginning_tax_rate_id) set_beginning_values order.calculate_totals end end |
- (Float) calculate_total(coupon = nil)
this is the price after coupons and taxes
* this method does not save it just sets the value of total.
* Thus allowing you to save the whole order with one opperation
171 172 173 174 175 |
# File 'app/models/order_item.rb', line 171 def calculate_total(coupon = nil) # shipping charges are calculated in order.rb self.total = (adjusted_price(coupon) + tax_charge).round_at(2) end |
- (Float) item_total(coupon = nil)
this is the price after coupons and taxes
* this return total if has not been calculated, otherwise calculates the total.
159 160 161 162 163 |
# File 'app/models/order_item.rb', line 159 def item_total(coupon = nil) # shipping charges are calculated in order.rb self.total ||= calculate_total(coupon) end |
- (Object) product_type
52 53 54 |
# File 'app/models/order_item.rb', line 52 def product_type variant.product.product_type end |
- (Object) product_type_ids
56 57 58 |
# File 'app/models/order_item.rb', line 56 def product_type_ids product_type.self_and_ancestors.map(&:id) end |
- (Boolean) ready_to_calculate?
determines if the order item has all the attributes set and thus you can now determine the final total
137 138 139 |
# File 'app/models/order_item.rb', line 137 def ready_to_calculate? shipping_rate_id && tax_rate_id end |
- (Object) set_beginning_values
34 35 36 37 38 |
# File 'app/models/order_item.rb', line 34 def set_beginning_values @beginning_tax_rate_id = self.tax_rate_id rescue @beginning_tax_rate_id = nil # this stores the initial value of the tax_rate @beginning_shipping_rate_id = self.shipping_rate_id rescue @beginning_shipping_rate_id = nil # this stores the initial value of the tax_rate @beginning_total = self.total rescue @beginning_total = nil # this stores the initial value of the total end |
- (none) set_order_calculated_at_to_nil
if something changes to the order item and you dont want to recalculate
(maybe because you are chnging several more things) then
this method will mark the calculated at to be nil and thus tell the order that
it needs to calculate the total again
129 130 131 |
# File 'app/models/order_item.rb', line 129 def set_order_calculated_at_to_nil order.update_attribute(:calculated_at, nil) end |
- (Object) ship_category_id
85 86 87 |
# File 'app/models/order_item.rb', line 85 def ship_category_id variant.product.shipping_category_id end |
- (Boolean) shipped?
if the order item has been shipped it will return true
64 65 66 |
# File 'app/models/order_item.rb', line 64 def shipped? shipment_id? end |
- (ShippingMethod) shipping_method
shipping method for the order item
72 73 74 |
# File 'app/models/order_item.rb', line 72 def shipping_method shipping_rate.shipping_method end |
- (Integer) shipping_method_id
shipping method id for the order item (use to reduce SQL calls)
refer to ShippingMethod ID constants to determine what shipping method is called
81 82 83 |
# File 'app/models/order_item.rb', line 81 def shipping_method_id shipping_rate.shipping_method_id end |
- (Object) shipping_rate_options(total_charge)
89 90 91 92 93 |
# File 'app/models/order_item.rb', line 89 def (total_charge) ShippingRate.joins(:shipping_method).where(['shipping_rates.shipping_category_id = ? AND shipping_methods.shipping_zone_id = ? AND shipping_rates.minimum_charge <= ?', ship_category_id, order.ship_address.shipping_zone_id, total_charge]).all end |
- (Float) tax_charge
the tax charge on an item
181 182 183 184 |
# File 'app/models/order_item.rb', line 181 def tax_charge tax_percentage = tax_rate.try(:tax_percentage) ? tax_rate.tax_percentage : 0.0 adjusted_price * tax_percentage / 100.0 end |


.

Total Balls Spawned:
Upper Object Limit:
Current Ball Count:
Active Balls:
Inert Balls:
Total Balls Removed:
Created by TheBitSpud


The best gift can't be wrapped.
About Our HotelGive a gift they’ll never forget. This year, give the gift of experiences. Give new destinations to explore. Give quality time together. Book: 29 November – 17 December 2019 Stay: 3 December 2019 – 31 May 2020 In addition to exclusive deals, IHG® Rewards Club members enjoy benefits such as member-only rates, points earned for Reward Nights, and complimentary Wi-Fi.
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Flexibility is important, which is why our Best Flexible with Breakfast Rate includes a delicious breakfast.
Our interactive running routes start and finish at your hotel


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Başa Dön


1001641420
Mustafa Alhilo
Question 2:
Choose using magnitude range:
Enter the number of queries to process:
Lower magnitude:
Higher Magnitude:
Choose using time range:
Enter the number of queries to process:
Lower time:
Higher time:
Choose for searching the earthquakes occuring in CA:
Enter the number of queries to process:
Choose for searching N<100 km of a specified lat,long location:
Enter the number of queries to process:
Latitude:
Longitude:


Next: P-V3 Consistency checking
Up: Validation
Previous: P-V1 Syntax validation
Code smells are symptoms in the software source code that possibly indicate deeper problems.
Similarly tools such as OOPS27 can be used for vocabulary smell checking.
OOPS is a Web-based tool for detecting common ontology pitfalls such as: (1) missing relationships; (2) using incorrectly ontology elements and (3) missing domain and range properties.
The complete list of pitfalls that are detected by OOPS is presented in [Poveda-Villalón et al., 2012].
lavdim
2015-08-12


§88-26 Expenses of trustees. The trustees shall serve without compensation but they shall be reimbursed from the expense fund for all necessary expenses and for any loss of salary or wages they may suffer through serving the board of trustees. [L 1925, c 55, §5(4); RL 1935, pt of §7924; RL 1945, pt of §707; RL 1955, §6-63; HRS §88-26; am L 1969, c 110, pt of §1]
Case Notes
Mentioned: 74 H. 181, 840 P.2d 367.


To develop an app that makes the volunteering recruitment process for elections in Hawai'i easier.
It has come to our attention that volunteers of state elections may face problems with signing up and committing as a volunteer. Traditionally, volunteers sign up by calling the Office of Elections and are then called back later so that they can schedule a training session. Some of the problems with this are: schedule conflicts, ineffective reminders, and being unprepared to write down information.
We are student developers (grades 11 & 12) from Waipahu High School. All of us are currently taking our second year of Coding, a new class offered at WHS.
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The Labs are a safe place for early adopter public sector members of the BCDevExchange to experiment in the open. They are a reflection of the BCDevExchange’s commitment to open development and co-creation.
In the Labs you will find experiments; ideas that need to be proven. Everything in the Labs needs to be tested, validated and refined. Like any experiments, some will work and others will fail. So be prepared that some of what you see here will disappear.
Work in the Labs will be tagged with either ‘Inspiration’ or ‘Exploration’. Inspiration means early stage, back-of-the-napkin type of ideas. Exploration contains work that is functional and can be tested, such as working software, but that is not ‘production ready.’


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Inline Notifications in Add-ins
Use inline notification styles to emphasize messages within your add-in.
Error and success messages are used for task completion feedback in validation of forms, data processing, file uploads, and other user flows.
This is an informational message.
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Password must include a numeral.


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Namespace
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Source
Composition
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Inline with .applyTo
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Set/get rule property at runtime
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Global
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Angular with namespaces
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xsetmode(1) xsetmode(1) NAME xsetmode - set the mode for an X Input device SYNOPSIS xsetmode device-name ABSOLUTE | RELATIVE DESCRIPTION Xsetmode sets the mode of an XInput device to either absolute or rela‐ tive. This isn't appropriate for all device types. AUTHOR Frederic Lepied X Version 11 xsetmode 1.0.0 xsetmode(1)


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Can't find keyword {{ search }} in UW major list.
Check your spelling. Refer to the list of undergraduate majors in Seattle, Bothell, and Tacoma.


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|
RayTracer
|
Acceleration structure for ensemble of bounded volumes. More...
#include <BinaryVolumeHierarchy.h>
Public Member Functions | |
| BinaryVolumeHierarchy (std::vector< BoundedVolume * >::iterator b, std::vector< BoundedVolume * >::iterator e) | |
| Intersection | ray_intersect (const Ray &ray) const override |
| Method to detect intersection of ray and object. More... | |
| BoundingBox | get_bounds () const override |
| std::ostream & | print (std::ostream &sink) const override |
| IntersectionProperties | intersect_properties (const Ray &ray) const override |
| If ray intersects this object, this method will provide additional Information. More... | |
| unsigned int | get_deepest_branch () const |
| ~BinaryVolumeHierarchy () override | |
| Public Member Functions inherited from RenderObject | |
| virtual | ~RenderObject () |
Private Member Functions | |
| unsigned int | get_deepest_branch (unsigned int offset) const |
| BVHConstructionNode * | build_tree (std::vector< BoundedVolume * >::iterator b, std::vector< BoundedVolume * >::iterator e) |
| unsigned int | flatten_tree (BVHConstructionNode *root, BVHLinearNode *nodes) |
| std::vector< BoundedVolume * >::iterator | partition (std::vector< BoundedVolume * >::iterator b, std::vector< BoundedVolume * >::iterator e) |
Private Attributes | |
| BVHLinearNode * | nodes = nullptr |
Acceleration structure for ensemble of bounded volumes.
| BinaryVolumeHierarchy::BinaryVolumeHierarchy | ( | std::vector< BoundedVolume * >::iterator | b, |
| std::vector< BoundedVolume * >::iterator | e | ||
| ) |
|
override |
|
private |
|
private |
|
overridevirtual |
Implements BoundedVolume.
| unsigned int BinaryVolumeHierarchy::get_deepest_branch | ( | ) | const |
|
private |
|
overridevirtual |
If ray intersects this object, this method will provide additional Information.
Note, that even if rayIntersect detected an intersection, this method might not be called. It is called iff the Intersection-Object returned by rayIntersect contains a pointer to this object and no other object in the rendered scene returned an intersection that was closer to the camera.
| ray | the ray in question |
Implements RenderObject.
|
private |
|
overridevirtual |
Implements RenderObject.
|
overridevirtual |
Method to detect intersection of ray and object.
| ray | The ray in question |
Implements RenderObject.
|
private |


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| 115964-29-9 | 12919 | C26H23F3N4O6S | 576.5442 (404.3426+172.2016) | 27820 | 82583 | 47842 | 7260 | Tosufloxacin toluenesulfonic acid | Tosufloxacin tosylate | 115964-29-9 | primary | single chemical compound | | tested chemical | C26H23F3N4O6S | 576.5442 | defined organic | complex | 7-(3-aminopyrrolidin-1-yl)-1-(2,4-difluorophenyl)-6-fluoro-4-oxo-1,4-dihydro-1,8-naphthyridine-3-carboxylic acid 4-methylbenzenesulfonate (1:1) | O=S(=O)(O)c1ccc(C)cc1.O=C(O)C2=CN(c1nc(c(F)cc1C2=O)N3CCC(N)C3)c4ccc(F)cc4F | O=C(O)C2=CN(c1nc(c(F)cc1C2=O)N3CCC(N)C3)c4ccc(F)cc4F | 20110805 |


Past Officers
- 2015–2016
- President: Birol Emir
- Vice President: Jennifer McGinniss
- Treasurer: Michael Kane
- Secretary: Valerie Nazzaro
- Chapter Representative: Neal Thomas
- 2014–2015
- President: Anita Wang
- Vice President: Jonathan French
- Treasurer: Jennifer Boyko
- Secretary: Birol Emir
- Chapter Representative: Ofer Harel
- 2013–2014
- President: Daniel Meyer
- Vice President: Carrie Li
- Treasurer: Joanna Yang
- Secretary: Jonathan French
- Chapter Representative: Ofer Harel
- 2012–2013
- President: Bingqing Zhou
- Vice President: Daniel Meyer
- Treasurer: Joanna Yang
- Secretary: Carrie Li
- Chapter Representative: Ofer Harel
- 2011–2012
- President: Sterling Hardy
- Vice President: Bingqing Zhou
- Treasurer: Joanna Yang
- Secretary: Luyan Dai
- Chapter Representative: Ofer Harel
- 2010–2011
- President: Ofer Harel
- Vice President: Wei Zhang
- Treasurer: Joanna Yang
- Secretary: Luyan Dai
- Chapter Representative: Marianne Messina
- 2009–2010
- President: Tai-Tsang Chen
- Vice President: Ofer Harel
- Treasurer: Joanna Yang
- Secretary: Wei Zhang
- Chapter Representative: Marianne Messina
- 2008–2009
- President: Neal Thomas
- Vice President: Tai-Tsang Chen
- Treasurer: Rebecca Fan
- Secretary: Wei Zhang
- Chapter Representative: Marianne Messina
- 2007–2008
- President: Haiqun Lin
- Vice President: Neal Thomas
- Treasurer: Sterling Hardy
- Secretary: Phil Pichotta
- Chapter Representative: William Pan


|
Bullet Collision Detection & Physics Library
|
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"
Go to the source code of this file.
Classes | |
| struct | btQuantizedBvhNode |
| btQuantizedBvhNode is a compressed aabb node, 16 bytes. More... | |
| struct | btOptimizedBvhNode |
| btOptimizedBvhNode contains both internal and leaf node information. More... | |
| class | btBvhSubtreeInfo |
| btBvhSubtreeInfo provides info to gather a subtree of limited size More... | |
| class | btNodeOverlapCallback |
| class | btQuantizedBvh |
| The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. More... | |
| struct | btBvhSubtreeInfoData |
| struct | btOptimizedBvhNodeFloatData |
| struct | btOptimizedBvhNodeDoubleData |
| struct | btQuantizedBvhNodeData |
| struct | btQuantizedBvhFloatData |
| struct | btQuantizedBvhDoubleData |
Macros | |
| #define | btQuantizedBvhData btQuantizedBvhFloatData |
| #define | btOptimizedBvhNodeData btOptimizedBvhNodeFloatData |
| #define | btQuantizedBvhDataName "btQuantizedBvhFloatData" |
| #define | MAX_SUBTREE_SIZE_IN_BYTES 2048 |
| #define | MAX_NUM_PARTS_IN_BITS 10 |
Typedefs | |
| typedef btAlignedObjectArray< btOptimizedBvhNode > | NodeArray |
| for code readability: More... | |
| typedef btAlignedObjectArray< btQuantizedBvhNode > | QuantizedNodeArray |
| typedef btAlignedObjectArray< btBvhSubtreeInfo > | BvhSubtreeInfoArray |
| #define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData |
Definition at line 40 of file btQuantizedBvh.h.
| #define btQuantizedBvhData btQuantizedBvhFloatData |
Definition at line 39 of file btQuantizedBvh.h.
| #define btQuantizedBvhDataName "btQuantizedBvhFloatData" |
Definition at line 41 of file btQuantizedBvh.h.
| #define MAX_NUM_PARTS_IN_BITS 10 |
Definition at line 51 of file btQuantizedBvh.h.
| #define MAX_SUBTREE_SIZE_IN_BYTES 2048 |
Definition at line 47 of file btQuantizedBvh.h.
Definition at line 161 of file btQuantizedBvh.h.
for code readability:
Definition at line 159 of file btQuantizedBvh.h.
Definition at line 160 of file btQuantizedBvh.h.


--- layout: page title: About header-img: "img/about-bg.png" ---
Constantly learning new technologies and increasing my knowledge.


#include "board.h"
Macros | |
| #define | CASE1 1 |
| Case for APDU commands. More... | |
| #define | CASE2 2 |
| #define | CASE3 3 |
| #define | USART_SEND 0 |
| Flip flop for send and receive char. More... | |
| #define | USART_RECEIVE 1 |
| #define | USART7816BAUDRATE 9600 |
Functions | |
| static uint32_t | ISO7816_GetChar (uint8_t *pCharToReceive) |
| Get a character from ISO7816. More... | |
| static uint32_t | ISO7816_SendChar (uint8_t CharToSend) |
| Send a char to ISO7816. More... | |
| static void | ISO7816_IccPowerOn (void) |
| Iso 7816 ICC power on. More... | |
| void | ISO7816_IccPowerOff (void) |
| Iso 7816 ICC power off. More... | |
| uint16_t | ISO7816_XfrBlockTPDU_T0 (const uint8_t *pAPDU, uint8_t *pMessage, uint16_t wLength) |
| Transfer Block TPDU T=0. More... | |
| void | ISO7816_Escape (void) |
| Escape ISO7816. More... | |
| void | ISO7816_RestartClock (void) |
| Restart clock ISO7816. More... | |
| void | ISO7816_StopClock (void) |
| Stop clock ISO7816. More... | |
| void | ISO7816_toAPDU (void) |
| T0 APDU. More... | |
| void | ISO7816_Datablock_ATR (uint8_t *pAtr, uint8_t *pLength) |
| Answer To Reset (ATR) More... | |
| void | ISO7816_SetDataRateandClockFrequency (uint32_t dwClockFrequency, uint32_t dwDataRate) |
| Set data rate and clock frequency. More... | |
| uint8_t | ISO7816_StatusReset (void) |
| Pin status for ISO7816 RESET. More... | |
| void | ISO7816_cold_reset (void) |
| cold reset More... | |
| void | ISO7816_warm_reset (void) |
| Warm reset. More... | |
| void | ISO7816_Decode_ATR (uint8_t *pAtr) |
| Decode ATR trace. More... | |
| void | ISO7816_Init (Usart *pUsart, uint32_t usartId, const Pin pPinIso7816RstMC) |
| Initializes a ISO driver. More... | |
Variables | |
| static uint8_t | StateUsartGlobal = USART_RECEIVE |
| Variable for state of send and receive from USART. More... | |
| static Pin | st_pinIso7816RstMC |
| Pin reset master card. More... | |
| static Usart * | UsartIso |
| static uint32_t | UsartIsoId |
ISO 7816 driver
Explanation on the usage of the code made available through the header file.
| #define CASE1 1 |
Case for APDU commands.
| #define CASE2 2 |
| #define CASE3 3 |
| #define USART7816BAUDRATE 9600 |
| #define USART_RECEIVE 1 |
| #define USART_SEND 0 |
Flip flop for send and receive char.
| void ISO7816_cold_reset | ( | void | ) |
cold reset
| void ISO7816_Datablock_ATR | ( | uint8_t * | pAtr, |
| uint8_t * | pLength | ||
| ) |
Answer To Reset (ATR)
| pAtr | ATR buffer |
| pLength | Pointer for store the ATR length |
| void ISO7816_Decode_ATR | ( | uint8_t * | pAtr | ) |
Decode ATR trace.
| pAtr | pointer on ATR buffer |
| void ISO7816_Escape | ( | void | ) |
Escape ISO7816.
|
static |
Get a character from ISO7816.
| pCharToReceive | Pointer for store the received char |
| void ISO7816_IccPowerOff | ( | void | ) |
Iso 7816 ICC power off.
|
static |
Iso 7816 ICC power on.
Initializes a ISO driver.
| pUsart | Pointer to the USART peripheral to configure. |
| usartId | USART ID for iso7816 |
| pPinIso7816RstMC | Pin ISO 7816 Rst MC |
| void ISO7816_RestartClock | ( | void | ) |
Restart clock ISO7816.
|
static |
Send a char to ISO7816.
| CharToSend | char to be send |
| void ISO7816_SetDataRateandClockFrequency | ( | uint32_t | dwClockFrequency, |
| uint32_t | dwDataRate | ||
| ) |
Set data rate and clock frequency.
| dwClockFrequency | ICC clock frequency in KHz. |
| dwDataRate | ICC data rate in bpd |
| uint8_t ISO7816_StatusReset | ( | void | ) |
Pin status for ISO7816 RESET.
| void ISO7816_StopClock | ( | void | ) |
Stop clock ISO7816.
| void ISO7816_toAPDU | ( | void | ) |
T0 APDU.
| void ISO7816_warm_reset | ( | void | ) |
Warm reset.
| uint16_t ISO7816_XfrBlockTPDU_T0 | ( | const uint8_t * | pAPDU, |
| uint8_t * | pMessage, | ||
| uint16_t | wLength | ||
| ) |
Transfer Block TPDU T=0.
| pAPDU | APDU buffer |
| pMessage | Message buffer |
| wLength | Block length |
|
static |
Pin reset master card.
|
static |
Variable for state of send and receive from USART.
|
static |
|
static |


BU goes up against Vermont
by EndPlayBURLINGTON, Vt. - Boston University (1-1) vs. Vermont (2-0)
Roy L Patrick Gymnasium, Burlington, Vermont; Wednesday, 7 p.m. EST
BOTTOM LINE: Boston University and Vermont both look to put winning streaks together . Boston University won easily 91-63 at home against SUNY Poly on Saturday. Vermont is coming off a 66-63 win at Bucknell on Sunday.
TEAM LEADERSHIP: Vermont's Anthony Lamb has averaged 17.5 points and 6.5 rebounds while Ryan Davis has put up 12 points and eight rebounds. For the Terriers, Walter Whyte has averaged 23 points and five rebounds while Max Mahoney has put up 10 points and four rebounds.WONDERFUL WALTER: Whyte has connected on 50 percent of the 16 3-pointers he's attempted. He's also made 61.5 percent of his free throws this season.
DID YOU KNOW: Vermont has attempted the seventh-most free throws in all of Division I. The Catamounts have averaged 31.5 free throws per game.
___
For more AP college basketball coverage: https://apnews.com/Collegebasketball and http://twitter.com/AP_Top25
___
This was generated by Automated Insights, http://www.automatedinsights.com/ap, using data from STATS LLC, https://www.stats.com


Trusted context and trusted connection
A trusted context is a database object that defines a trust relationship for a connection between the database and an external entity such as an application server. The trust relationship is based upon the following set of attributes:
- System authorization ID: Represents the user that establishes a database connection
- IP address (or domain name): Represents the host from which a database connection is established
- Data stream encryption: Represents the encryption setting (if any) for the data communication between the database server and the database client
When a user establishes a database connection, the DB2 database system checks whether the connection matches the definition of a trusted context object in the database. When a match occurs, the database connection is said to be trusted.
To prevent access to sensitive information in 'credit_card' table from outside the organizational premisis, the J.K.Avro superstore decides to have trusted connection using trusted context objects.
Operation
On Windows, on a command window enter ipconfig /all
. From the result, obtain the IP Address
of the system.
On UNIX/Linux, at a terminal enter ifconfig
. From the result, obtain the inet addr
(IP address) of the system.
On the right pane, click Edit Query. Replace ~~~~ipaddress~~~~ with the ipaddress of the system
to create the trusted context object..
Create trusted context Object
The SECADM of J.K.Avro superstore creates a trusted context object called trCtx. A trusted connection using this object can only be established from a particular IP address or a domain name by the authentication ID joe.
Note that localhost and <IP_ADDRESS> are not accepted for trusted connection.
Behavior of trusted context trCtx:
- Joe gets default role 'Mgr' privileges if connected through the trusted connection.
- The trusted context is also enabled with use for Sue and Bob.
- To switch user from Joe to Sue, Sue's password is required for authentication. Once authenticated, Sue will also receive the default Mgr role privileges.
- To switch user from Joe to Bob, no authentication is required. Once authenticated, Bob will only receive custService role privileges.
Solution
SECADM pat, successfully creates trusted context object. When Joe connects to the database through trusted connection, he will be
able to access table data, else if he tries to access table data from a non-trusted connection, he will not be able to access table
data.