text:
The Leading Cotton-Producing US States
Texas produces the highest amount of cotton in the US.
Cotton is the main cash crop of Texas.
In 2017, Texas led in cotton production in the US, producing 8,830,000 bales of cotton. Georgia and Mississippi followed with 2,900,000 and 1,220,000 bales respectively. The others were Arkansas (1,000,000), California (996,000), Alabama (860,000), Oklahoma (720,000), North Carolina (705,000), Missouri (700,000), and Arizona (560,000). Most of the US's cotton come from the Southern states that also go by the name the "Cotton Belt." Globally, the US is the third largest cotton producer, behind China and India. Most of the states produce the Upland type of cotton, however, Arizona and California cultivate the Pima type which is finer and more expensive. Technical improvements in how cotton farmers produce the product, increased cotton demand, and government policies help keep cotton farming in the US to be competitive.
Top Cotton Producers in the US
In 2014, Texas produced 42% of cotton in the US which generated $1.75 billion. There are eight cotton-producing regions in the state, making it Texas' main cash crop. There are over 9,000 square miles of cotton fields in the state. Texans do not just believe in growing cotton, but in doing it better than any other place. Most of the cotton farmers embrace technology and innovation both in the farms and manufacturing plants. New biotechnology advancements enable Texan cotton farmers to use fewer chemicals thus improving plant health. Texas is an international player in the cotton business and Texan cotton remains a brand with global consumers. Texan farmers usually market the product more aggressively which give rise to purchase.
Georgia produces 18% of cotton in the US, which is also its leading crop. The climate and environment in Georgia facilitate the high-quality cotton growth which textile mills worldwide desire this product. Georgia has high rainfall but the soil cannot hold water for long, therefore, cotton is the best crop for the conditions. Another factor that favors this state is a long growing season and high temperatures. Since 1965, farmers have been funding the Georgia Cotton Commission which, in turn, invest in research, education, and promotion of farmers. This commission also advances the interests of farmers in every way possible, making sure that producers remain profitable even with fluctuating cotton prices.
Approximately 1.1 million acres of land in Mississippi is under cotton farming any time of the year. In 2004, the state recorded yields of 1034 pounds of lint for every acre. Recent setbacks, however, saw the production of cotton in the state slide down to an all-time low but Mississippi has since bounced back to the "Cotton is King" slogan. The state overcame the challenges by eradicating boll weevils, introducing better transgenic varieties, and reducing tillage programs among other measures.
Overview of Cotton Farming in the US
The US was the fifth largest cotton consumer globally in 2008, behind Turkey, Pakistan, India, and Mainland China. Cotton industry in the US accounts for approximately $25 billion in terms of services and products every year and generate at least 250,000 jobs. On the other side, there is a general concern over the decrease in cotton production in recent years as more farmers take up other crops like corn. Various state governments and farmers, however, are not letting go of the crop easily. Most of them are conducting research and using alternative technology to improve yield and profitability. Also, the US government normally use its international influence to negotiate better terms for American farmers, making sure US cotton get the best prices in international trade.
Cotton Production in 2017 (in 1,000 bales)
1 Texas 8,830
2 Georgia 2,900
3 Mississippi 1,220
4 Arkansas 1,000
5 California 996
6 Alabama 860
7 Oklahoma 720
8 North Carolina 705
9 Missouri 700
10 Arizona 560
Mark Owuor Otieno
Mark is a student at Maseno University and community commentator in Kenya. Mark also has interests in geography, African history, and international development.
This page was last updated on July 5, 2018.
By Mark Owuor Otieno
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text:
Q: Warning: spl_object_hash() expects parameter 1 to be object, string given I have this issues "Warning: spl_object_hash() expects parameter 1 to be object, string given" when I try to save the onetomay entity side of my relationship, the code below may be give you some ideas:
<?php

namespace BackendBundle\Entity;

use Doctrine\Common\Collections\ArrayCollection;
use Doctrine\ORM\Mapping as ORM;

/**
 * BulletinSalaire
 *
 * @ORM\Table(name="bulletin_salaire")
 * @ORM\Entity(repositoryClass="BackendBundle\Repository\BulletinSalaireRepository")
 */
class BulletinSalaire
{
    /**
     * @var int
     *
     * @ORM\Column(name="id", type="integer")
     * @ORM\Id
     * @ORM\GeneratedValue(strategy="AUTO")
     */
    private $id;

    /**
     * @var \DateTime
     *
     * @ORM\Column(name="periode", type="date")
     */
    private $periode;

    /**
     * @var string
     *
     * @ORM\Column(name="mode_reglement", type="string", length=255)
     */
    private $modeReglement;

    /**
     *
     * @ORM\ManyToOne(targetEntity="Employee", inversedBy="employees", cascade={"persist"})
     * @ORM\JoinColumn(name="id_employee", referencedColumnName="id")
     */

    private $employee;

    /**
     *
     * @ORM\OneToMany(targetEntity="LibelleBulletin", mappedBy="bulletinsalaire", cascade={"persist"})
     * @ORM\JoinColumn(name="id_libelleBulltin", referencedColumnName="id")
     */

    private $libelleBulletins;

    public function __construct()
    {
        $this->libelleBulletins= new ArrayCollection();
    }

    /**
     * Get id
     *
     * @return int
     */
    public function getId()
    {
        return $this->id;
    }

    /**
     * Set libelle
     *
     * @param string $libelle
     *
     * @return BulletinSalaire
     */
    public function setLibelle($libelle)
    {
        $this->libelle = $libelle;

        return $this;
    }

    /**
     * Get libelle
     *
     * @return string
     */
    public function getLibelle()
    {
        return $this->libelle;
    }

    /**
     * Set base
     *
     * @param integer $base
     *
     * @return BulletinSalaire
     */
    public function setBase($base)
    {
        $this->base = $base;

        return $this;
    }

    /**
     * Get base
     *
     * @return int
     */
    public function getBase()
    {
        return $this->base;
    }

    /**
     * Set retenues
     *
     * @param float $retenues
     *
     * @return BulletinSalaire
     */
    public function setRetenues($retenues)
    {
        $this->retenues = $retenues;

        return $this;
    }

    /**
     * Get retenues
     *
     * @return float
     */
    public function getRetenues()
    {
        return $this->retenues;
    }

    /**
     * Set periode
     *
     * @param \DateTime $periode
     *
     * @return BulletinSalaire
     */
    public function setPeriode($periode)
    {
        $this->periode = $periode;

        return $this;
    }

    /**
     * Get periode
     *
     * @return \DateTime
     */
    public function getPeriode()
    {
        return $this->periode;
    }

    /**
     * Set modeReglement
     *
     * @param string $modeReglement
     *
     * @return BulletinSalaire
     */
    public function setModeReglement($modeReglement)
    {
        $this->modeReglement = $modeReglement;

        return $this;
    }

    /**
     * Get modeReglement
     *
     * @return string
     */
    public function getModeReglement()
    {
        return $this->modeReglement;
    }

    /**
     * @return mixed
     */
    public function getEmployee()
    {
        return $this->employee;
    }

    /**
     * @param mixed $employee
     */
    public function setEmployee($employee)
    {
        $this->employee = $employee;
    }

    /**
     * @param LibelleBulletin $libellebulletin
     * @return $this
     */
    public function addLibelleBulletin(LibelleBulletin $libellebulletin)
    {
        $this->libelleBulletins[] = $libellebulletin;
        $libellebulletin->setBulletinSalaire($this);

        return $this;
    }

    /**
     * @param LibelleBulletin $libellebulletin
     */
    public function removeLibelleBulletin(LibelleBulletin $libellebulletin)
    {
        $this->libelleBulletins->removeElement($libellebulletin);
    }

    public function getLibelleBulletins()
    {
        return $this->libelleBulletins;
    }

}

    /---------------------Entity Many libelle to one bulletin de salaire ----------------/
<?php
/**
 * Created by PhpStorm.
 * User: achouri
 * Date: 17/11/2016
 * Time: 4:05 PM
 */

namespace BackendBundle\Entity;

use Doctrine\ORM\Mapping as ORM;

/**
 * BulletinSalaire
 *
 * @ORM\Table(name="libelle_bulletins")
 * @ORM\Entity()
 */

class LibelleBulletin
{
    /**
     * @var int
     *
     * @ORM\Column(name="id", type="integer")
     * @ORM\Id
     * @ORM\GeneratedValue(strategy="AUTO")
     */
    private $id;
    /**
     * @ORM\ManyToOne(targetEntity="BulletinSalaire", inversedBy="libellebulletins")
     * @ORM\JoinColumn(nullable=false)
     */
    private $bulletinSalaire;

    /**
     * @var string
     *
     * @ORM\Column(name="libelle", type="string", length=255)
     *
     */
    private $libelle;

    /**
     * @var int
     *
     * @ORM\Column(name="base", type="integer")
     */
    private $base;

    /**
     * @var float
     *
     * @ORM\Column(name="retenues", type="float")
     */
    private $retenues;

    /**
     * @return int
     */
    public function getId()
    {
        return $this->id;
    }

    /**
     * @param int $id
     */
    public function setId($id)
    {
        $this->id = $id;
    }

    /**
     * @return string
     */
    public function getLibelle()
    {
        return $this->libelle;
    }

    /**
     * @param string $libelle
     */
    public function setLibelle($libelle)
    {
        $this->libelle = $libelle;
    }

    /**
     * @return int
     */
    public function getBase()
    {
        return $this->base;
    }

    /**
     * @param int $base
     */
    public function setBase($base)
    {
        $this->base = $base;
    }

    /**
     * @return float
     */
    public function getRetenues()
    {
        return $this->retenues;
    }

    /**
     * @param float $retenues
     */
    public function setRetenues($retenues)
    {
        $this->retenues = $retenues;
    }

    /**
     * @return mixed
     */
    public function getBulletinSalaire()
    {
        return $this->bulletinSalaire;
    }

    /**
     * @param mixed $bulletinSalaire
     */
    public function setBulletinSalaire($bulletinSalaire)
    {
        $this->bulletinSalaire = $bulletinSalaire;
    }

}

    /---------------------bulletinsallaireType---------------------------/
<?php

namespace BackendBundle\Form;

use Symfony\Bridge\Doctrine\Form\Type\EntityType;
use Symfony\Component\Form\AbstractType;
use Symfony\Component\Form\FormBuilderInterface;
use Symfony\Component\OptionsResolver\OptionsResolver;
use BackendBundle\Form\LibelleBulletinType;
class BulletinSalaireType extends AbstractType
{
    /**
     * {@inheritdoc}
     */
    public function buildForm(FormBuilderInterface $builder, array $options)
    {
        $builder->add('libelleBulletins',LibelleBulletinType::class,array('label' => '','data_class' => null))
            ->add('periode')->add('modeReglement')
            ->add('employee',EntityType::class,array('attr'   =>  array(
            'class'   => 'form-control'),
            'class' => 'BackendBundle:Employee',
            'choice_label' => function ($employee) {
                return $employee->getNom()." ".$employee->getPrenom();
            }));
    }

    /**
     * {@inheritdoc}
     */
    public function configureOptions(OptionsResolver $resolver)
    {
        $resolver->setDefaults(array(
            'data_class' => 'BackendBundle\Entity\BulletinSalaire'
        ));
    }

    /**
     * {@inheritdoc}
     */
    public function getBlockPrefix()
    {
        return 'backendbundle_bulletinsalaire';
    }

}
/------------------------libelleBultinType-----------------------/
<?php

namespace BackendBundle\Form;

use Symfony\Bridge\Doctrine\Form\Type\EntityType;
use Symfony\Component\Form\AbstractType;
use Symfony\Component\Form\FormBuilderInterface;
use Symfony\Component\OptionsResolver\OptionsResolver;
use BackendBundle\Form\EmployeeType;
class LibelleBulletinType extends AbstractType
{
    /**
     * {@inheritdoc}
     */
    public function buildForm(FormBuilderInterface $builder, array $options)
    {
        $builder->add('libelle')->add('base')->add('retenues');
    }

    /**
     * {@inheritdoc}
     */
    public function configureOptions(OptionsResolver $resolver)
    {
        $resolver->setDefaults(array(
            'data_class' => 'BackendBundle\Entity\LibelleBulletin'
        ));
    }

    /**
     * {@inheritdoc}
     */
    public function getBlockPrefix()
    {
        return 'backendbundle_libellebulletin';
    }

}
/----------------------Action du save-----------------/
    /**
     * Creates a new bulletinSalaire entity.
     *
     * @Route("/new", name="bulletinsalaire_new")
     * @Method({"GET", "POST"})
     */
    public function newAction(Request $request)
    {
        $bulletinSalaire = new Bulletinsalaire();
        $libellebulletin= new LibelleBulletin();
        $form = $this->createForm('BackendBundle\Form\BulletinSalaireType', $bulletinSalaire);
        $form->handleRequest($request);

        if ($form->isSubmitted() && $form->isValid()) {
            $em = $this->getDoctrine()->getManager();
            $bulletinSalaire->addLibelleBulletin($libellebulletin);
            $em->persist($bulletinSalaire);
            $em->flush($bulletinSalaire);

            return $this->redirectToRoute('bulletinsalaire_show', array('id' => $bulletinSalaire->getId()));
        }

        return $this->render('BackendBundle:bulletinsalaire:new.html.twig', array(
            'bulletinSalaire' => $bulletinSalaire,
            'form' => $form->createView(),
        ));
    }

A: As @xabbuh pointed, we need to see how do you create the object. Looks like you are trying to set $employee or $libelleBulletins with a string instead of an object.
This is wrong.
$bulletin->setEmployee('some value');

This is right.
$employee = $dm->getRepository('BackendBundle:Employee')->findOneById('employeeId');

$bulletin->setEmployee($employee);

redpajama_set_name: RedPajamaStackExchange


text:
"XXe Siècle Vol. 5–6" [20th Century French Periodical On Contemporary Art]
1939. Soft-cover publication containing five original prints by four prominent European artists and one Australian artist. All prints are signed or monogramed in image, published in an edition of 1200, 31.8 x 24.7cm. Soiling and foxing to cover, some stains, wear and small tears to rear pages.
The periodical contains five original prints by the following artists:
(1) Gino Severini (Italian, 1883–1966): Gravure Futuriste, linocut in brown ink;
(2) John Wardell Power (Aust., 1881–1943): L'Homme e Calculateur, linocut in brown ink on cream paper;
(3) Louis Marcoussis (French, 1883-1941): Rimbaud [Symbolist French poet], wood engraving in purple ink (erroneously listed as an etching);
(4) Max Ernst (German, 1891–1976): Electre [Electra], lithograph in blue on cream paper;
(5) Wassily Kandinsky (Russian, 1866-1944): Untitled, woodcut in two colours.
The periodical XXe Siècle was founded in 1938 by Italian-born art historian, writer and publisher Gualtieri di San Lazzaro (1904–1974), who resided and worked in Paris. XXe Siècle consisted of a combination of articles with original works of art by well-known and influential contemporary artists. About 60 issues were published intermittently between 1938 and 1974. Ref: Wiki.
Item #CL203-50
Price (AUD): $6,600.00 other currencies
See all items in Cabinet, Prints

redpajama_set_name: RedPajamaCommonCrawl


FULL TITANIUM FOR WEIGHT REDUCTION & POWER GAINS.
To truly enjoy the FA20 is to extract the most from it in NA form. So maximum weight reduction is an essential part of it. This product is specifically designed for competition use. With the absence of a catalytic converter, the pipes made from Titanium, this drastically reduces the overall weight to compliment the power gains. When fitted to a car that has a forced induction setup, it greatly enhances the performance gains with the improved exhaust flow efficiency. This is one of the key products to extract the performance potential of the 86/BRZ/FR-S.


text:
Q: How to define a generic type in flow that have all the fields optional of specified type We can define a generic type in typescript very easily that can have all fields optional with respect to passed generic type. Such type of query are very usefull in type definition to define mongo queries's result as we may not need to get all fields and can validate through optional type specification.
https://www.typescriptlang.org/docs/handbook/advanced-types.html
interface Person {
    name: string;
    age: number;
}

type Partial<T> = {
    [P in keyof T]?: T[P];
}

const p : Partial<Person> = {
    name:"A"
}

How to define same thing using Flow. We are able to use $Keys. but not able to get its type while defining another type as we have done in type script. -- [P in keyof T]?: T[P]; We are not able to get P in Flow. https://flow.org/en/docs/types/utilities/#toc-keys
type Person = {
    name: string,
    age: number;
}

type Partial<T> = {
    [$Keys<T>] : 1;  // doubt here how to get type of prop comes in left
}

const p : Partial<Person> = {
    name:"A"
}

Actual We are trying to write a type specification for Query. We can't give null or undefined for not specified keys as well.
type Department = {
    _id : string,
    name : string,
    type : string
}

type Person = {
    _id : string,
    name : string,
    age : number,
    department : Department
}

type Query <T> = {
    [P in keyOf T ]?: 1 | Query<T[P]>
}

type Document<T> = {
    [P in keyOf T ]?: T[P] | Document<T[P]>
}

const personDepartments  : Query<Person> = {
    name:1, department :{name:1}
}

This query will return some result as follow
{_id:"1",name:"abc",department:{name:"xyz"}}

which can be of Document Type
const a : Document<Person> = {_id:"1",name:"abc",department:{name:"xyz"}}

So we can write a function as following
function getResult<T>(query:Query<T>) : Document<t> {
    // code here to query and get result
}

It is very straightforward in TypeScript. So I guess there should be way around as well in Flow.

A: You can use $Shape utility:

Copies the shape of the type supplied, but marks every field optional

type Foo = {
  A: string,
  B: number,
  C: string
};

const t: $Shape<Foo> = {
  A: 'a'
};

Another approach would be "spreading" the type (sorry can't find any documentation on it besides changelog):
type Foo = {
  A: string,
  B: number,
  C: string
};

type Partial<T> = { ...T };

const t: Partial<Foo> = {
  A: 'a'
};

Now it is truly partial and you can skip the keys.

A: You can get close with $ObjMap<T, F> which applies function type F to every property of T.
type Foo = {
  A: string,
  B: number,
  C: string
};

function makeOptional<T>(t: T): ?T {
  return t;
}

type PartialFoo = $ObjMap<Foo, typeof makeOptional>;

const t: PartialFoo = {
  A: 'a',
  B: null,
  C: undefined
};

In this case, however, you still can't skip keys, but can add null or undefined to their values.


text:
Chris Sutherland joins Big Light Productions as COO
By TVBEurope Staff
Chris Sutherland has been confirmed as the new chief operating officer at Big Light Productions. The independent production company was founded in 2013 and has been responsible for renowned dramas such as The Man In The High Castle, Medici and the forthcoming Leonardo.
Starting on 1st September, Sutherland will oversee the company's operations, strategic partnerships and project financing from the London office. He takes over from Oliver Lang, who is stepping down from the position at the end of the month.
Frank Spotnitz, founder and CEO of Big Light as well as executive producer and writer, said, "Chris is a fantastic addition to our team. He has a proven track record in growing businesses and creating innovative strategies, solid relationships in the industry and an incredible wealth of production experience. His expertise and experience will be invaluable to Big Light as we continue to grow, and I'm looking forward to working with him."
Sutherland added, "It is an honour to be joining Frank and his talented team at Big Light. Frank is an exceptional writer and producer, and the quality of drama from Big Light is outstanding; distinctive, thought-provoking, and beautifully crafted. It is an exciting time for the company, and I am looking forward to contributing towards its future success."
Sutherland was previously commercial investment director at The Ingenious Group (Media), where he led the TV division, which produced and financed recent hits White House Farm (ITV), Britannia (Sky), Black Summer (Netflix) and Marcella (ITV/Netflix). During his time at Motion Content Group as head of programmes and production UK, he oversaw the UK's content investment strategy and production management across a portfolio of content including Love Island (ITV), The Circle (C4/Netflix) and Wild Things (Sky). Sutherland has also held roles at Zodiak Media Group, BBC, Fremantle and Argonon.
TVBEurope Staff
Tags ⋅ people ⋅ Big Light Productions
ITN Productions updates control suite with ATG Danmon
Andy Kaplan to head up operations at Light Iron
Adobe: 6,000 productions use camera-to-cloud technology
New Lord of the Rings series involves over 9,500 VFX shots
BBC R&D develops single-camera light field backgrounds for virtual production
James Poole joins outside broadcasting company Televideo
Tony Rizkallah joins Blu Digital Group as COO
Steve MacPherson joins Milk as chief technology officer


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text:
Blog | Conversations with Sr. Camille
St. Joseph sister with entrepreneurial spirit works with victims of human trafficking
by Sr. Camille D'Arienzo
St. Joseph Sr. Margaret Nacke
Who she is: Founder and coordinator of Bakhita Initiative
Lives in: Belleville, Kan.
Sr. Camille: Margaret, a mutual friend and member of your religious community, Sr. Ann Strizek, speaks highly of you and the work you do from your home base in rural Kansas. She describes you as active in the efforts to reach those caught in the web of human trafficking. She said you also provide help for sisters in Europe.
I'd like to begin by asking how you got involved in human trafficking and what it is you are able to do in this arena.
Nacke: I have no clear statement for how I became involved in human trafficking other than that one day, I decided to self-educate about this issue. Friends say it was the Holy Spirit. It wasn't long before I was invited to give talks to various groups on human trafficking, including classes at the community college in Concordia, Kan. At the college, I began working with four faculty members, and these meetings turned into organizing a successful conference, Human Trafficking: 21st Century Slavery. We have continued to meet and are now assembling a group of students who will examine the Code of Conduct for campus and educate other students about various abuses of the dignity of people.
This sounds like a continuing project. Is there any connection between this and your efforts for sisters in Europe?
Yes. A couple of years ago, I began a research project, Bakhita Initiative: U.S. Catholic Sisters United Against Human Trafficking. My intent was to establish a data bank consisting of resources from sisters throughout the U.S. who are focused on this issue, resources that could be shared by all. I called the Leadership Conference of Women Religious with this idea, and Ann Scholz, a School Sister of Notre Dame, brought the information to the LCWR leadership. The result was a green light to proceed.
Sister Ann sent word about the project to all justice and peace offices on her list. I immediately began hearing from sisters throughout the U.S. who wanted to participate. Since Bakhita Initiative was to be a resource, I needed to gather resources, so I developed a survey tool in which I asked for sisters' involvements in education and conferences, legislative action, corporate advocacy, residences, prayers, research and coalitions. There's a coalition map showing where sisters are involved throughout the country.
As an educator, my efforts are to inform as many as possible about this multibillion-dollar criminal business.
Where do you find support for your efforts?
In the small community where I live, ecumenical church women are supportive. In addition, I count on friends, faculty at the college, and our core group for U.S. Catholic Sisters Against Human Trafficking and people on the state committee, of which I am a member.
What information would you like to share about this?
Bakhita Initiative gave rise to U.S. Catholic Sisters Against Human Trafficking. There's a new website, sistersagainsttrafficking.org, that has much updated material. This, along with bakhitainitiative.com, provides ample resources about the works of sisters and others on the anti-trafficking scene.
What is the connection that enables you to help the sisters in Europe?
In 1992, the U.S. bishops sent a representative to the LCWR meeting asking for volunteers to go to Eastern Europe to help the church after the fall of communism. A colleague and I, two of the 200 who responded to that call, were assigned Romania to work in curriculum development for the first Catholic school of nursing, St. Joseph. We made multiple trips to Romania and, while there, heard stories from sisters about life under communism. We began to wonder who was gathering these stories for the archive of the church, so we went to Rome and visited a dozen generalates whose members served in Eastern Europe during communism. There was no hesitancy in their saying there was a need, and every sister with whom we spoke was grateful that someone was collecting the information. Branching out to other former communist countries and interviewing sisters generated data and photographs that were used for a PowerPoint presentation.
"Where was I? Why did I not know about this?" were common questions from sisters as we presented information. In order to bring it into the "public square," we hired New Group Media to produce a documentary, "Interrupted Lives: Catholic Sisters under European Communism."
Keeping communication alive with sisters in Eastern Europe has strengthened networking.
What work does that involve?
Giving workshops, fundraising, and making connections. St. Joseph Sr. Mary Savoie and I two years ago gave a conference to over 100 sisters in Slovakia, and several years prior to this, we collaborated with the Institute of Church History, a department of the Ukrainian Catholic University, in organizing a conference for sisters who lived under communism. Funds I raised for this conference allowed us to hire a sister professor from Heythrop College in London to give major input. In Romania, we funded a home, a central house, to be used by all congregations. We also raised funds for computers so that the sisters could connect with one another and the world, and we introduced the sisters to grant writing.
Are you still involved in this effort?
In the past year, I've raised funds for much-needed renovations and the creation of an infirmary for the monastery of the Benedictine sisters in Kaunas, Lithuania.
Currently, I am working with a sister filmmaker from Slovakia who is producing a documentary about the anti-trafficking work of European sisters. My congregation, through funding that Sister Mary and I raised for Eastern European sisters, funded two documentaries produced by this filmmaker. We have supported the research of a sister in Poland, a researcher at the Catholic University of Lublin who wrote about congregations in Poland during communism.
Is there a center for your findings?
Catholic Theological Union in Chicago is the archive for the research that we have generated from congregations in Eastern Europe. As sisters send us their research materials, we add them to this archive.
When did you enter the Sisters of St. Joseph?
What drew you to them?
I attended the college, Marymount, sponsored by the Sisters of St. Joseph of Concordia, Kan.
What ministries did you have before you began your current work?
If one lives long enough, there are many ministries in which a person may be engaged. I suppose you might place me in the category of an entrepreneur, but these are a few of my ministries: I have been chair of the art department at the former Marymount College of Kansas, where a colleague and I established the continuing education department. I created a life planning and resource service in Concordia, Mo., giving workshops across this country to sisters leaving nursing and classroom teaching. I established a Pallotti Center in Kansas City, Mo., for the purpose of promoting volunteerism among college postgraduates and gave talks in parishes in many parts of the country. I was also a fundraiser for an international sponsorship organization -- I traveled to many countries in which this organization had sponsored children and elderly and also had U.S. volunteers working in these projects.
Besides my anti-trafficking work in Belleville, I also visit sick and elderly parishioners.
And I don't dare ask what you do in your spare time! Where and with whom did you spend your childhood?
I grew up in Hebron, Neb.
Did you have heroes, heroines or role models?
My parents were role models for many reasons, but basically, they were terrific examples of good Christian living. They reached out to others. This was especially true of my father, who was on boards and committees and gave himself generously to others, but always seemed to have time to listen to us.
What drew you to religious life?
I was taught by the School Sisters of Notre Dame, and I think these sisters tried to the best of their abilities to expose us to missionary endeavors. We always seemed to be raising funds for some worthy cause. I think it was their example that planted the seed to think about a religious vocation when I was in sixth grade. Attending a women's college, where most of the faculty were sisters and where we lived in one building with the sisters, also provided an opportunity to become acquainted with their lives. I would say that the college experience solidified my vocation.
Has it turned out the way you thought it would?
I am not sure I have thought of it this way. As a young sister, I was given many excellent and growth-producing experiences; for example, I was sent shortly after formation to study with Sr. Corita Kent, the famous artist at Immaculate Heart College in Los Angeles. I had a year's sabbatical while at the college to study the art centers of Europe. As a young sister, recently changed into lay clothing and traveling alone, this was quite an experience. It certainly enriched the classes I taught in art history, which was what the travel was meant to do. Little did I realize that as I was visiting the art museums in Western Europe, some sisters in Eastern Europe were imprisoned, and all were oppressed in some way by communist governments.
I also spent a summer at the Abbey of Regina Laudis, the Bethlehem, Conn., Benedictine contemplative monastery where the film "Come to the Stable" was shot. While there, the sisters arranged for a glass-making course. They prepared my lunch each day and gave me a car, and I was off to work with the glass-maker.
What would you say to young women finishing high school and having their life choices to consider?
Life happens quickly. Have some experiences that include giving to others and at the same time growing you, providing you with insights about people while learning about yourself. Life is always in process, but the choices you make are all the difference.
What work engages you in Kansas?
Mainly my work in anti-trafficking. Speaking, connecting, but also helping sisters in Eastern Europe as I become acquainted with their needs.
With whom do you minister?
Basically, I am a connector, and I connect with many people in this country and abroad, sharing resources or whatever they need. I am working now to update the Bakhita website that will include sisters worldwide who are involved with anti-trafficking. I am communicating with the director of Talitha Kum ("Little girl, arise"), the International Network of Consecrated Life Against Trafficking in Persons. This is a global network under the aegis of the International Union of Superiors General committed to stop human trafficking. We are urged on by the Gospel imperative to uphold, promote and protect the dignity of people.
What satisfactions do you experience?
I have been satisfied with my life and the many opportunities for growth throughout that have been given to me. In the winter of my life, it has been a gift to live in a rural community and to share in the joys and sorrows of the people; of course, I realize I have thought this way in every place that I have had the privilege to live.
How and with whom do you pray?
I live with one sister in a very small town. My prayer each morning centers on the Gospel for the day (we have Mass only twice a week, including Sunday) and the meaning of the words for my life. I pray to keep open to whatever God brings for the day. I especially pray each day in gratitude for parents, faith, siblings, teachers, etc. Being grateful is important to me, especially since I have had firsthand experience visiting slums around the world, seeing horrific needs. Seldom do I drink a glass of water or brush my teeth without thinking of women who might have to walk a mile to get water and then carry a heavy jug back.
I pray also for our parishioners and the many intentions that our community sends via emails. I belong to a circle in my congregation, and we pray during circle meetings.
Personality-wise, I think I am happy most of the time, but if you specifically asked what it is, it is probably being free: free to read; free to make choices; free to be with friends and laugh and share.
What saddens you?
I have a special sensitivity to single mothers. It saddens me to see single moms with basic needs. I was in a store the other day, and the woman waiting on me was sick but had to work to make the money. She apologized for not smiling. She had four children, one ill at home. It was also apparent that she needed a lot of dental work. I think of these women. When I wake up at 2 a.m. or 3 a.m., I always say a prayer for the women who are being trafficked and abused. This may be my angel nudging me to say the prayer and remember what is happening to some girls and women.
How do you relax?
I come from a family of readers, so I love to read. I also like to listen to music, work crossword puzzles, and engage in conversations that generate new ideas.
Is there anything you would like us to know about you and your commitments?
I am passionate about my work with human trafficking. The core group of 15 people in the U.S. Catholic Sisters Against Human Trafficking group are great partners, supporters and resources. If something is needed, they are on deck, sharing. I communicate also with some of the sisters on the Bakhita list who are women "out there" working to make this a better world by addressing in various ways the criminal activity of human trafficking. I especially admire those sisters who are working in shelters or residences that house victims of trafficking.
And you, Margaret, are worthy of our admiration. Thank you.
[Mercy Sr. Camille D'Arienzo, broadcaster and author, narrates Stories of Forgiveness, a book about people whose experiences have caused them to consider the possibilities of extending or accepting forgiveness. The audiobook, renamed Forgiveness: Stories of Redemption, is available from Now You Know Media.]
Editor's note: We can send you an email alert every time Sr. Camille's column, Conversations with Sr. Camille, is posted. Go to this page and follow directions: Email alert signup.
Global Sisters Report | St. Joseph sister with entrepreneurial spirit works with victims of human trafficking
NCR Podcast: Anti-trafficking efforts in Haiti; younger sisters write about realities of religious life
Does anybody care about human trafficking?
At Vatican, world's mayors vow to tackle climate change, poverty


This website is intended to help people who want to discover more about the history of Cardiff. Initially it will largely consist of extracts from my book, Cardiff, a History of the City. In time this will be presented in a format easier to read and understand but, as this is an ongoing process, patience is needed in the short term in order to make the best use of the material displayed.


Categories: Medical Devices, Power Morcellator. Tags: leiomyosarcoma, power morcellation, power morcellation mass tort, power morcellator, uterine cancer.
Leading Justice is a full-service marketing company working with law firms on a cash buy basis to sign up fully-qualified, fraud-free power morcellation cases. Here at Leading Justice, we can custom-tailor your firm's power morcellation advertising needs and help you sign up cases via internal cash buys. Our clients only pay an agency fee to cover the cost of power morcellation advertising, plus a fee for each case we sign, and any data we generate for your firm belongs to you. We also cross-qualify all of our contacts, which means any data we generate that doesn't qualify for the target campaign is reviewed to determine whether it is eligible for another type of claim. By using advanced approaches to target contacts specifically related to power morcellators and complications like leiomyosarcoma and uterine cancer, Leading Justice will increase your firm's power morcellation case load. If you are interested in helping victims of alleged power morcellation side effects, our extensive consumer reach and direct advertising strategies give you the competitive edge and confidence to allocate your full budget and rest easy knowing your money is being spent in the best way possible.
Each and every law firm we work with at Leading Justice plays an integral role in how we classify claims as qualified or not. Our considerable experience working with plaintiff law firms helps us recognize a great case when we see one, but we will also customize our power morcellation case intake specifications to the exact criteria you are seeking. So, if your firm has specific power morcellator qualifying case criteria you would like us to use, we can train our intake specialists to apply these criteria to each email and phone call they receive. By eliminating the middle man, Leading Justice offers clients an opportunity for internal cash buys of power morcellation data with zero chance of fraud.
Power morcellators are surgical devices used during hysterectomies and myectomies (uterine fibroid removal procedures) that allow surgeons to cut up the uterus or tumor and remove the tissue through a small incision in the uterus. Many doctors prefer to use power morcellators during these procedures, because they can help reduce recovery time and the risk of surgical complications. Unfortunately, mounting research indicates that using power morcellators during surgery may actually cause previously undetected cancer cells to spread throughout the body, rapidly upstaging the cancer and consequently reducing the chances of long-term survival.
According to statistics, one out of every 350 women who undergo a hysterectomy or myectomy with power morcellation may have an undiagnosed sarcoma, which could result in a later diagnosis of an aggressive type of uterine cancer called leiomyosarcoma (LMS). As more and more women throughout the country who have undergone surgery with power morcellation become aware of the cancer risks allegedly associated with the controversial surgical device, the number of power morcellator cancer suits filed against manufacturers like Ethicon and Smith & Nephew in courts throughout the country is expected to grow significantly.


text:
using namespace Klampt;

SimTestBackend::SimTestBackend(WorldModel* world)
  :SimGUIBackend(world),settings("Klampt")
{
  settings["movieWidth"] = 640;
  settings["movieHeight"] = 480;
  settings["updateStep"] = 0.01;
  settings["pathDelay"] = 0.1;
  settings["sensorPlot"]["x"]=20;
  settings["sensorPlot"]["y"]=20;
  settings["sensorPlot"]["width"]=300;
  settings["sensorPlot"]["height"]=200;
  settings["sensorPlot"]["spacing"]=20;
  settings["sensorPlot"]["autotime"]=false;
  settings["sensorPlot"]["duration"]=2.0;
  settings["poser"]["color"][0] = 1;
  settings["poser"]["color"][1] = 1;
  settings["poser"]["color"][2] = 0;
  settings["poser"]["color"][3] = 0.5;
  settings["desired"]["color"][0] = 0;
  settings["desired"]["color"][1] = 1;
  settings["desired"]["color"][2] = 0;
  settings["desired"]["color"][3] = 0.5;
  settings["contact"]["pointSize"] = 5;
  settings["contact"]["normalLength"] = 0.05;
  settings["contact"]["forceScale"] = 0.01;
  settings["dragForceMultiplier"] = 10.0;
}

void SimTestBackend::Start()
{
  if(!settings.read("simtest.settings")) {
    printf("Didn't read settings from [APPDATA]/simtest.settings\n");
    if(!settings.write("simtest.settings"))
      printf("ERROR: couldn't write default settings to [APPDATA]/simtest.settings\n");
    else
      printf("Wrote default settings to [APPDATA]/simtest.settings\n");
  }

  cur_link=0;
  cur_driver=0;

  dragWidget.Set(world);
  robotWidgets.resize(world->robots.size());
  for(size_t i=0;i<world->robots.size();i++) {
    robotWidgets[i].Set(world->robots[i].get(),&world->robotViews[i]);
    robotWidgets[i].linkPoser.InitDefaultAppearance();
    AnyCollection poserColorSetting = settings["poser"]["color"];
    GLColor poserColor(poserColorSetting[0],poserColorSetting[1],poserColorSetting[2],poserColorSetting[3]);
    for(size_t j=0;j<robotWidgets[i].linkPoser.poserAppearance.size();j++) {
      robotWidgets[i].linkPoser.poserAppearance[j].faceColor = poserColor;
      robotWidgets[i].linkPoser.poserAppearance[j].vertexColor = poserColor;
    }
  }
  //draw desired milestone
  objectWidgets.resize(world->rigidObjects.size());
  for(size_t i=0;i<world->rigidObjects.size();i++)
    objectWidgets[i].Set(world->rigidObjects[i].get());
  allWidgets.widgets.push_back(&dragWidget);
  for(size_t i=0;i<world->robots.size();i++)
    allRobotWidgets.widgets.push_back(&robotWidgets[i]);
  for(size_t i=0;i<world->rigidObjects.size();i++)
    allObjectWidgets.widgets.push_back(&objectWidgets[i]);
  allWidgets.widgets.push_back(&allRobotWidgets);
  allWidgets.widgets.push_back(&allObjectWidgets);
  allWidgets.Enable(&allObjectWidgets,false);

  drawBBs = 0;
  drawPoser = 1;
  drawDesired = 0;
  drawEstimated = 0;
  drawContacts = 0;
  drawWrenches = 1;
  drawExpanded = 0;
  drawTime = 1;
  output_ros = 0;
  drawSensors.resize(world->robots.size());
  for(size_t i=0;i<sim.controlSimulators.size();i++)
    drawSensors[i].resize(sim.controlSimulators[i].sensors.sensors.size(),false);
  click_mode = 0;
  pose_objects = 0;
  forceSpringActive = false;

  MapButtonToggle("draw_bbs",&drawBBs);
  MapButtonToggle("draw_poser",&drawPoser);
  MapButtonToggle("draw_desired",&drawDesired);
  MapButtonToggle("draw_estimated",&drawEstimated);
  MapButtonToggle("draw_contacts",&drawContacts);
  MapButtonToggle("draw_wrenches",&drawWrenches);
  MapButtonToggle("draw_expanded",&drawExpanded);
  MapButtonToggle("draw_time",&drawTime);
  MapButtonToggle("pose_objects",&pose_objects);
  MapButtonToggle("output_ros",&output_ros);

  SimGUIBackend::Start();
}

void SimTestBackend::ToggleSensorPlot(int sensorIndex,int enabled) {
  RobotSensors& sensors = sim.controlSimulators[0].sensors;
  if(enabled) {
    for(size_t i=0;i<sensorPlots.size();i++) {
      if(sensorPlots[i].sensorIndex == sensorIndex) return;
    }
    int spacing = int(settings["sensorPlot"]["spacing"]);
    SensorPlot sensorPlot;
    sensorPlot.sensorIndex=sensorIndex;
    sensorPlot.view.x = int(settings["sensorPlot"]["x"]);
    sensorPlot.view.y = int(settings["sensorPlot"]["y"]);
    sensorPlot.view.width = int(settings["sensorPlot"]["width"]);
    sensorPlot.view.height = int(settings["sensorPlot"]["height"]);
    sensorPlot.view.autoXRange = bool(settings["sensorPlot"]["autotime"]);
    sensorPlot.view.xmin = sim.time-Real(settings["sensorPlot"]["duration"]);
    sensorPlot.view.xmax = sim.time;
    if(!sensorPlots.empty())
      sensorPlot.view.y += sensorPlots.back().view.height+spacing;

    SensorBase* sensor = NULL;
    sensor = sensors.sensors[sensorIndex].get();
    vector<string> names;
    sensor->MeasurementNames(names);
    sensorPlot.drawMeasurement.resize(names.size());
    fill(sensorPlot.drawMeasurement.begin(),sensorPlot.drawMeasurement.end(),true);
    sensorPlot.view.curves.resize(0);
    const static float colors[12][3] = {{1,0,0},{1,0.5,0},{1,1,0},{0.5,1,0},{0,1,0},{0,1,0.5},{0,1,1},{0,0.5,1},{0,0,1},{0.5,0,1},{1,0,1},{1,0,0.5}};
    sensorPlot.view.curveColors.resize(Min((size_t)12,names.size()));
    for(size_t i=0;i<sensorPlot.view.curveColors.size();i++)
      sensorPlot.view.curveColors[i].set(colors[i][0],colors[i][1],colors[i][2]);
    size_t start=sensorPlot.view.curveColors.size();
    sensorPlot.view.curveColors.resize(names.size());
    for(size_t i=start;i<sensorPlot.view.curveColors.size();i++)
      sensorPlot.view.curveColors[i].setHSV((float)(Rand()*360.0),1,1);

    sensorPlots.push_back(sensorPlot);
  }
  else {
    int spacing = int(settings["sensorPlot"]["spacing"]);
    for(size_t i=0;i<sensorPlots.size();i++) {
      if(sensorPlots[i].sensorIndex == sensorIndex) {
        int h = sensorPlots[i].view.height+spacing;
        sensorPlots.erase(sensorPlots.begin()+i);
        //shift everything else up one
        for(size_t j=i;j<sensorPlots.size();j++)
          sensorPlots[j].view.y -= h;
        break;
      }
    }
  }
  SendRefresh();
}

void SimTestBackend::ToggleSensorMeasurement(int sensorIndex,int measurement,int checked)
{
  SensorPlot* plot=NULL;
  for(size_t i=0;i<sensorPlots.size();i++)
    if(sensorPlots[i].sensorIndex == sensorIndex) {
      plot = &sensorPlots[i];
      break;
    }
  if(!plot) return;
  if(measurement < 0 || measurement >= (int)plot->drawMeasurement.size()) return;
  plot->drawMeasurement[measurement] = bool(checked);
  plot->view.curveColors[measurement].rgba[3] = float(checked);
  plot->view.AutoYRange();
  SendRefresh();
}

void SimTestBackend::RenderWorld()
{
  DEBUG_GL_ERRORS()
  BaseT::RenderWorld();

  glEnable(GL_BLEND);
  allWidgets.Enable(&allRobotWidgets,drawPoser==1);
  allWidgets.DrawGL(viewport);

  //applying a force
  if(forceSpringActive) {
    sim.UpdateModel();
  }

  //draw commanded setpoint
  if(drawDesired) {
    for(size_t r=0;r<world->robots.size();r++) {
      RobotModel* robot=world->robots[r].get();

      robot->UpdateConfig(robotWidgets[r].Pose());
      sim.controlSimulators[r].GetCommandedConfig(robot->q);
      robot->UpdateFrames();
      AnyCollection desiredColorSetting = settings["desired"]["color"];
      GLColor desiredColor(desiredColorSetting[0],desiredColorSetting[1],desiredColorSetting[2],desiredColorSetting[3]);
      vector<GeometryAppearance> oldAppearance = world->robotViews[r].GetAppearance();
      world->robotViews[r].SetColors(desiredColor);
      world->robotViews[r].Draw();
      world->robotViews[r].SetAppearance(oldAppearance);
    }
  }
  if(drawEstimated) {
  }

  //draw collision feedback
  glDisable(GL_LIGHTING);
  glDisable(GL_BLEND);
  glEnable(GL_POINT_SMOOTH);
  if(drawContacts) {
    glDisable(GL_DEPTH_TEST);
    Real pointSize = settings["contact"]["pointSize"];
    Real fscale=settings["contact"]["forceScale"];
    Real nscale=settings["contact"]["normalLength"];
    DrawContacts(pointSize,fscale,nscale);
  }

  if(drawWrenches) {
    Real robotsize = 1.5;
    Real robotmass = 1.5;
    if(world->robots.size() > 1)
      robotmass = world->robots[0]->GetTotalMass();
    Real fscale = robotsize/(robotmass*9.8);
    DrawWrenches(fscale);
  }

  //draw bounding boxes
  if(drawBBs) {
    sim.UpdateModel();
    for(size_t i=0;i<world->robots.size();i++) {
      for(size_t j=0;j<world->robots[i]->geometry.size();j++) {
        if(world->robots[i]->IsGeometryEmpty(j)) continue;
        Box3D bbox = world->robots[i]->geometry[j]->GetBB();
        Matrix4 basis;
        bbox.getBasis(basis);
        glColor3f(1,0,0);
        drawOrientedWireBox(bbox.dims.x,bbox.dims.y,bbox.dims.z,basis);
      }
    }
    for(size_t i=0;i<world->rigidObjects.size();i++) {
      Box3D bbox = world->rigidObjects[i]->geometry->GetBB();
      Matrix4 basis;
      bbox.getBasis(basis);
      glColor3f(1,0,0);
      drawOrientedWireBox(bbox.dims.x,bbox.dims.y,bbox.dims.z,basis);
    }
    for(size_t i=0;i<world->terrains.size();i++) {
      Box3D bbox = world->terrains[i]->geometry->GetBB();
      Matrix4 basis;
      bbox.getBasis(basis);
      glColor3f(1,0.5,0);
      drawOrientedWireBox(bbox.dims.x,bbox.dims.y,bbox.dims.z,basis);
    }
  }
  for(size_t i=0;i<drawSensors.size();i++) {
    for(size_t j=0;j<drawSensors[i].size();j++)
      if(drawSensors[i][j])
        DrawSensor(i,j);
  }
  DEBUG_GL_ERRORS()
}

void SimTestBackend::RenderScreen()
{
  DEBUG_GL_ERRORS()
  if(drawTime)
    SimGUIBackend::DrawClock(20,40);
  for(size_t i=0;i<sensorPlots.size();i++)
    sensorPlots[i].view.DrawGL();
  DEBUG_GL_ERRORS()
}

void SimTestBackend::ToggleDrawExpandedCheckbox(int checked)
{
  if(originalAppearance.empty()) {
    //first call -- initialize display lists
    originalAppearance.resize(world->NumIDs());
    expandedAppearance.resize(world->NumIDs());
    vector<Real> paddings(world->NumIDs(),0);
    for(size_t i=0;i<originalAppearance.size();i++) {
      //robots don't get a geometry
      if(world->IsRobot(i) >= 0) continue;
      originalAppearance[i] = *world->GetAppearance(i);
      expandedAppearance[i].geom = originalAppearance[i].geom;
      expandedAppearance[i].faceColor = originalAppearance[i].faceColor;
      expandedAppearance[i].lightFaces = true;
      expandedAppearance[i].drawFaces = true;
      expandedAppearance[i].drawVertices = false;
      paddings[i] = world->GetGeometry(i)->margin;
    }
    for(size_t i=0;i<world->robots.size();i++) {
      for(size_t j=0;j<world->robots[i]->links.size();j++) {
        int id=world->RobotLinkID(i,j);
        if(sim.odesim.robot(i)->triMesh(j))
          paddings[id] += sim.odesim.robot(i)->triMesh(j)->GetPadding();
      }
    }
    for(size_t i=0;i<world->terrains.size();i++) {
      int id=world->TerrainID(i);
      if(sim.odesim.terrainGeom(i))
        paddings[id] += sim.odesim.terrainGeom(i)->GetPadding();
    }
    for(size_t i=0;i<world->rigidObjects.size();i++) {
      int id = world->RigidObjectID(i);
      if(sim.odesim.object(i)->triMesh())
        paddings[id] += sim.odesim.object(i)->triMesh()->GetPadding();
    }
    for(size_t i=0;i<originalAppearance.size();i++) {
      //robots don't get a geometry
      if(world->IsRobot(i) >= 0) continue;
      if(paddings[i] > 0) {
        //draw the expanded mesh
        expandedAppearance[i].faceDisplayList.beginCompile();
        GLDraw::drawExpanded(*world->GetGeometry(i),paddings[i]);
        expandedAppearance[i].faceDisplayList.endCompile();
      }
      else
        expandedAppearance[i] = originalAppearance[i];
    }
  }
  drawExpanded = checked;
  if(drawExpanded) {
    for(size_t i=0;i<originalAppearance.size();i++) {
      //robots don't get a geometry
      if(world->IsRobot(i) >= 0) continue;
      *world->GetAppearance(i) = expandedAppearance[i];
    }
  }
  else {
    for(size_t i=0;i<originalAppearance.size();i++) {
      //robots don't get a geometry
      if(world->IsRobot(i) >= 0) continue;
      *world->GetAppearance(i) = originalAppearance[i];
    }
  }
  SendRefresh();
}

bool SimTestBackend::OnCommand(const string& cmd,const string& args)
{
  stringstream ss(args);
  if(cmd=="advance") {
    SimStep(sim.simStep);
  }
  else if(cmd=="reset")  {
    BaseT::OnCommand(cmd,args);
    for(size_t i=0;i<world->robots.size();i++) {
      robotWidgets[i].SetPose(world->robots[i]->q);
      robotWidgets[i].ikPoser.poseGoals.clear();
      robotWidgets[i].ikPoser.RefreshWidgets();
    }
  }
  else if(cmd=="command_pose") {
    for(size_t i=0;i<sim.robotControllers.size();i++) {
      RobotController* rc=sim.robotControllers[i].get();
      stringstream ss;
      Config qref;
      if(!rc->GetCommandedConfig(qref))
        sim.controlSimulators[i].GetCommandedConfig(qref);
      ss<<robotWidgets[i].Pose_Conditioned(qref);
      if(!rc->SendCommand("set_q",ss.str())) {
        fprintf(stderr,"set_q command does not work with the robot's controller\n");
      }
    }
  }
  else if(cmd=="command_config") {
    if(sim.robotControllers.size() == 0) {
        fprintf(stderr,"set_q command does not work when there is no robot\n");
    }
    else {
      RobotController* rc=sim.robotControllers[0].get();
      if(!rc->SendCommand("set_q",args)) {
        fprintf(stderr,"set_q command does not work with the robot's controller\n");
      }
    }
  }
  else if(cmd=="load_file") {
    LoadFile(args.c_str());
  }
  else if(cmd=="show_sensor") {
    int index;
    ss>>index;
    ToggleSensorPlot(index,1);
  }
  else if(cmd=="hide_sensor") {
    int index;
    ss>>index;
    ToggleSensorPlot(index,0);
  }
  else if(cmd=="draw_sensor") {
    int index;
    bool drawn;
    ss>>index>>drawn;
    drawSensors[0][index] = drawn;
  }
  else if(cmd=="show_sensor_measurement") {
    int index,measurement;
    ss>>index>>measurement;
    ToggleSensorMeasurement(index,measurement,1);
  }
  else if(cmd=="hide_sensor_measurement") {
    int index,measurement;
    ss>>index>>measurement;
    ToggleSensorMeasurement(index,measurement,0);
  }
  else if(cmd=="pose_mode") {
    click_mode = ModeNormal;
    for(size_t i=0;i<robotWidgets.size();i++)
      robotWidgets[i].SetFixedPoseIKMode(false);
  }
  else if(cmd=="constrain_link_mode") {
    click_mode = ModeNormal;
    for(size_t i=0;i<robotWidgets.size();i++)
      robotWidgets[i].SetFixedPoseIKMode(true);
  }
  else if(cmd=="constrain_point_mode") {
    click_mode = ModeNormal;
    for(size_t i=0;i<robotWidgets.size();i++)
      robotWidgets[i].SetPoseIKMode(true);
  }
  else if(cmd=="delete_constraint_mode") {
    click_mode = ModeNormal;
    for(size_t i=0;i<robotWidgets.size();i++)
      robotWidgets[i].SetDeleteIKMode(true);
  }
  else if(cmd=="force_application_mode") {
    click_mode = ModeForceApplication;
  }
  else if(cmd=="constrain_current_point"){
    robotWidgets[0].FixCurrentPoint();
  }
  else if(cmd == "delete_current_constraint") {
      robotWidgets[0].DeleteConstraint();
  }
  else if(cmd=="constrain_current_link") {
      robotWidgets[0].FixCurrent();
  }
  else if(cmd=="set_link") {
    ss >> cur_link;
  }
  else if(cmd=="set_link_value") {
    double value;
    ss>>value;
    if(world->robots.size()>0) {
      Vector q = robotWidgets[0].Pose();
      q(cur_link)=value;
      robotWidgets[0].SetPose(q);
    }
  }
  else if(cmd=="set_driver") {
    ss >> cur_driver;
  }
  else if(cmd=="set_driver_value") {
    double driver_value;
    ss>>driver_value;
    if(world->robots.size()>0) {
      RobotModel* robot = world->robots[0].get();
      robot->UpdateConfig(robotWidgets[0].Pose());
      robot->SetDriverValue(cur_driver,driver_value);
      robotWidgets[0].SetPose(robot->q);
    }
  }
  else if(cmd=="log_sim") {
    simLogFile = args;
  }
  else if(cmd=="log_contact_state") {
    contactStateLogFile = args;
  }
  else if(cmd=="log_contact_wrenches") {
    contactWrenchLogFile = args;
  }
  else if(cmd=="log_commanded_path") {
    int robot;
    string fn;
    stringstream ss(args);
    ss>>robot;
    SafeInputString(ss,fn);
    robotCommandLogFiles[robot] = fn;
  }
  else if(cmd=="log_sensed_path") {
    int robot;
    string fn;
    stringstream ss(args);
    ss>>robot;
    SafeInputString(ss,fn);
    robotSensedLogFiles[robot] = fn;
  }
  else
    return BaseT::OnCommand(cmd,args);
  SendRefresh();
  return true;
}

bool SimTestBackend::LoadFile(const char* fn)
{
  if(SimGUIBackend::LoadFile(fn)) {
    //refresh the posers if there's an added object
    size_t nr = robotWidgets.size();
    size_t no = objectWidgets.size();
    robotWidgets.resize(world->robots.size());
    for(size_t i=nr;i<world->robots.size();i++) {
      robotWidgets[i].Set(world->robots[i].get(),&world->robotViews[i]);
      allRobotWidgets.widgets.push_back(&robotWidgets[i]);
    }
    objectWidgets.resize(world->rigidObjects.size());
    for(size_t i=no;i<world->rigidObjects.size();i++) {
      objectWidgets[i].Set(world->rigidObjects[i].get());
      allObjectWidgets.widgets.push_back(&objectWidgets[i]);
    }
    return true;
  }
  return false;
}

void SimTestBackend::DoPassiveMouseMove(int x, int y)
{
  if(click_mode == ModeForceApplication) sim.UpdateModel();
  allWidgets.Enable(&dragWidget,(click_mode == ModeForceApplication));
  allWidgets.Enable(&allObjectWidgets,((click_mode != ModeForceApplication) && (pose_objects == 1)));
  allWidgets.Enable(&allRobotWidgets,(click_mode != ModeForceApplication && drawPoser==1));

  double d;
  if(allWidgets.Hover(x,viewport.h-y,viewport,d))
    allWidgets.SetHighlight(true);
  else
    allWidgets.SetHighlight(false);
  if(allWidgets.requestRedraw) { SendRefresh(); allWidgets.requestRedraw=false; }
}

void SimTestBackend::BeginDrag(int x,int y,int button,int modifiers)
{
  if(click_mode == ModeForceApplication) sim.UpdateModel();
  allWidgets.Enable(&dragWidget,(click_mode == ModeForceApplication));
  allWidgets.Enable(&allObjectWidgets,((click_mode != ModeForceApplication) && (pose_objects == 1)));
  allWidgets.Enable(&allRobotWidgets,(click_mode != ModeForceApplication && drawPoser==1));

  if(button == GLUT_RIGHT_BUTTON) {
    double d;
    if(allWidgets.BeginDrag(x,viewport.h-y,viewport,d))
      allWidgets.SetFocus(true);
    else
      allWidgets.SetFocus(false);
    if(allWidgets.requestRedraw) { SendRefresh(); allWidgets.requestRedraw=false; }
  }
}

void SimTestBackend::EndDrag(int x,int y,int button,int modifiers)
{
  if(click_mode == ModeForceApplication) sim.UpdateModel();
  allWidgets.Enable(&dragWidget,(click_mode == ModeForceApplication));
  allWidgets.Enable(&allObjectWidgets,((click_mode != ModeForceApplication) && (pose_objects == 1)));
  allWidgets.Enable(&allRobotWidgets,(click_mode != ModeForceApplication && drawPoser==1));

  if(button == GLUT_RIGHT_BUTTON) {
    if(allWidgets.hasFocus) {
      allWidgets.EndDrag();
      allWidgets.SetHighlight(false);
      allWidgets.SetFocus(false);

      double d;
      if(allWidgets.Hover(x,viewport.h-y,viewport,d))
        allWidgets.SetHighlight(true);
      else
        allWidgets.SetHighlight(false);
      if(allWidgets.requestRedraw) { SendRefresh(); allWidgets.requestRedraw=false; }
    }
  }
}

void SimTestBackend::DoFreeDrag(int dx,int dy,int button)
{
  if(button == GLUT_LEFT_BUTTON)  DragRotate(dx,dy);
  else if(button == GLUT_RIGHT_BUTTON) {
    //dragging widgets
    if(click_mode == ModeForceApplication) sim.UpdateModel();
    allWidgets.Enable(&dragWidget,(click_mode == ModeForceApplication));
    allWidgets.Enable(&allObjectWidgets,((click_mode != ModeForceApplication) && (pose_objects == 1)));
    allWidgets.Enable(&allRobotWidgets,(click_mode != ModeForceApplication && drawPoser==1));

    if(allWidgets.hasFocus) {
      allWidgets.Drag(dx,-dy,viewport);
      if(allWidgets.requestRedraw) {
        allWidgets.requestRedraw = false;
        SendRefresh();
        SendCommand("update_config","");
      }
      //instead of updating object pose in model, update it in simulation
      if(allObjectWidgets.hasFocus) {
        for(size_t i=0;i<objectWidgets.size();i++)
          if(objectWidgets[i].hasFocus) {
            sim.odesim.object(i)->SetTransform(world->rigidObjects[i]->T);
            sim.odesim.object(i)->SetVelocity(Vector3(0.0),Vector3(0.0));
          }
      }
    }
  }
}

void SimTestBackend::SimStep(Real dt)
{
  if(allWidgets.activeWidget == &dragWidget && dragWidget.dragging) {
    forceSpringActive = true;
    double dragForce = double(settings["dragForceMultiplier"]);
    ODEObjectID obj = sim.WorldToODEID(dragWidget.hoverID);
    dBodyID body;
    RigidTransform T;
    if(obj.IsRigidObject()) {
      body = sim.odesim.object(obj.index)->body();
      sim.odesim.object(obj.index)->GetTransform(T);
    }
    else if(obj.IsRobot()) {
      body = sim.odesim.robot(obj.index)->baseBody(obj.bodyIndex);
      sim.odesim.robot(obj.index)->GetLinkTransform(obj.bodyIndex,T);
    }
    else {
      fprintf(stderr,"Trying to drag terrain?\n");
      body = NULL;
    }
    if(body != NULL) {
      Vector3 wp = T*dragWidget.hoverPt;
      sim.hooks.push_back(make_shared<SpringHook>(body,wp,dragWidget.dragPt,dragForce));
    }
  }
  else
    forceSpringActive = false;

  sim.Advance(dt);

  //logging
  if(!simLogFile.empty()) DoLogging(simLogFile.c_str());
  if(!contactStateLogFile.empty()) DoContactStateLogging(contactStateLogFile.c_str());
  if(!contactWrenchLogFile.empty()) DoContactWrenchLogging(contactWrenchLogFile.c_str());
  for(map<int,string>::iterator i=robotCommandLogFiles.begin();i!=robotCommandLogFiles.end();i++) {
    if(i->second.empty()) continue;
    if(i->first < 0 || i->first >= (int)world->robots.size()) continue;
    ofstream out(i->second.c_str(),ios::app);
    if(!out) {
      printf("Error writing robot command path to %s\n",i->second.c_str());
      continue;
    }
    Config q;
    sim.controlSimulators[i->first].GetCommandedConfig(q);
    out<<sim.time<<'\t'<<q<<endl;
    out.close();
  }
  for(map<int,string>::iterator i=robotSensedLogFiles.begin();i!=robotSensedLogFiles.end();i++) {
    if(i->second.empty()) continue;
    if(i->first < 0 || i->first >= (int)world->robots.size()) continue;
    ofstream out(i->second.c_str(),ios::app);
    if(!out) {
      printf("Error writing robot sensed path to %s\n",i->second.c_str());
      continue;
    }
    Config q;
    sim.controlSimulators[i->first].GetSensedConfig(q);
    out<<sim.time<<'\t'<<q<<endl;
    out.close();
  }
  for(map<int,string>::iterator i=robotTorqueLogFiles.begin();i!=robotTorqueLogFiles.end();i++) {
    if(i->second.empty()) continue;
    if(i->first < 0 || i->first >= (int)world->robots.size()) continue;
    ofstream out(i->second.c_str(),ios::app);
    if(!out) {
      printf("Error writing robot torque path to %s\n",i->second.c_str());
      continue;
    }
    Config q;
    sim.controlSimulators[i->first].GetActuatorTorques(q);
    out<<sim.time<<'\t'<<q<<endl;
    out.close();
  }

  if(output_ros) {
    OutputROS();
  }

  if(forceSpringActive)
    sim.hooks.resize(sim.hooks.size()-1);

  //update visualization colors
  SetForceColors();

  //update root of poseConfig from simulation
  for(size_t r=0;r<world->robots.size();r++) {
    RobotModel* robot=world->robots[r].get();
    robot->UpdateConfig(robotWidgets[r].Pose());
    Vector driverVals(robot->drivers.size());
    for(size_t i=0;i<robot->drivers.size();i++)
      driverVals(i) = robot->GetDriverValue(i);
    sim.UpdateRobot(r);
    for(size_t i=0;i<robot->drivers.size();i++)
      robot->SetDriverValue(i,driverVals(i));
    robotWidgets[r].SetPose(robot->q);
  }

  //update object configurations from simulation
  sim.UpdateModel();
  for(size_t i=0;i<world->rigidObjects.size();i++)
    objectWidgets[i].SetPose(world->rigidObjects[i]->T);

  SendCommand("update_sim_time",LexicalCast(sim.time));
}

void SimTestBackend::SensorPlotUpdate()
{
  RobotSensors& sensors = sim.controlSimulators[0].sensors;
  SensorBase* sensor = NULL;
  for(size_t i=0;i<sensorPlots.size();i++) {
    SensorPlot& sensorPlot = sensorPlots[i];
    sensor = sensors.sensors[sensorPlot.sensorIndex].get();

    sensorPlot.view.xmin = sim.time - Real(settings["sensorPlot"]["duration"]);
    sensorPlot.view.xmax = sim.time;

    vector<double> values;
    sensor->GetMeasurements(values);
    for(size_t i=0;i<values.size();i++) {
      sensorPlot.view.AddPoint(sim.time,values[i],i);
    }
  }
}

bool SimTestBackend::OnIdle() {
  bool res=BaseT::OnIdle();
  if(simulate) {
    double dt=settings["updateStep"];
    Timer timer;
    SimStep(dt);
    SendRefresh();

    SensorPlotUpdate();

    Real elapsedTime = timer.ElapsedTime();
    Real remainingTime = Max(0.0,dt-elapsedTime);
    //printf("Simulated time %g took time %g, pausing for time %g\n",dt,elapsedTime,remainingTime);
    SendPauseIdle(remainingTime);
    return true;
  }
  return res;
}

#if HAVE_GLUI

void delete_all(GLUI_Listbox* listbox)
{
  while(listbox->items_list.first_child()) {
    listbox->delete_item(((GLUI_Listbox_Item*)listbox->items_list.first_child())->id);
  }
}

GLUISimTestGUI::GLUISimTestGUI(GenericBackendBase* _backend,WorldModel* _world,int w,int h)
  :world(_world),settings("Klampt")
{
  BaseT::backend = _backend;
  BaseT::width = w;
  BaseT::height = h;
  SimTestBackend* sbackend = dynamic_cast<SimTestBackend*>(_backend);
  Assert(sbackend != NULL);
  sim = &sbackend->sim;
  sbackend->gui = this;
}

bool GLUISimTestGUI::Initialize()
{
  if(!BaseT::Initialize()) return false;

  if(world->robots.size() == 0) {
    FatalError("In GLUI interface, must have at least one robot in the world\n");
  }

  settings["movieWidth"] = 640;
  settings["movieHeight"] = 480;
  if(!settings.read("simtest.settings")) {
  }

  glui = GLUI_Master.create_glui_subwindow(main_window,GLUI_SUBWINDOW_RIGHT);
  glui->set_main_gfx_window(main_window);
  AddControl(glui->add_button("Simulate"),"simulate");
  AddControl(glui->add_button("Reset"),"reset");
  //we're going to manually intercept this one to resize the screen and start movie mode
  save_movie_button = glui->add_button("Save movie");
  AddControl(save_movie_button,"");
  AddControl(glui->add_checkbox("Log simulation state"),"do_logging");
  AddControl(glui->add_checkbox("Log contact state"),"do_contact_state_logging");
  AddControl(glui->add_checkbox("Log contact wrenches"),"do_contact_wrench_logging");
  GLUI_Panel* panel = glui->add_rollout("Input/output");
  AddControl(glui->add_edittext_to_panel(panel,"File"),"load_text");
  AddControl(glui->add_button_to_panel(panel,"Load"),"load_file");
  AddControl(glui->add_button_to_panel(panel,"Save state"),"save_state");

  AddControl(glui->add_checkbox("Force application mode"),"force_application_mode");
  GLUI_Checkbox* checkbox = glui->add_checkbox("Draw poser");
  checkbox->set_int_val(1);
  AddControl(checkbox,"draw_poser");
  checkbox = glui->add_checkbox("Draw desired");
  AddControl(checkbox,"draw_desired");
  checkbox = glui->add_checkbox("Draw estimated");
  AddControl(checkbox,"draw_estimated");
  checkbox = glui->add_checkbox("Draw bboxes");
  AddControl(checkbox,"draw_bbs");
  checkbox = glui->add_checkbox("Draw contacts");
  AddControl(checkbox,"draw_contacts");
  checkbox = glui->add_checkbox("Draw wrenches");
  checkbox->set_int_val(1);
  AddControl(checkbox,"draw_wrenches");
  checkbox = glui->add_checkbox("Draw expanded");
  AddControl(checkbox,"draw_expanded");
  checkbox = glui->add_checkbox("Draw time");
  AddControl(checkbox,"draw_time");

  map<string,string> csettings = sim->robotControllers[0]->Settings();
  controllerCommands = sim->robotControllers[0]->Commands();
  panel = glui->add_rollout("Controller settings");
  if(!csettings.empty()) {
    for(map<string,string>::iterator i=csettings.begin();i!=csettings.end();i++) {
      controllerSettings.push_back(i->first);
    }
    controllerSettingIndex = 0;
    settingsBox = glui->add_listbox_to_panel(panel,"Setting",&controllerSettingIndex);
    for(size_t i=0;i<controllerSettings.size();i++) {
      settingsBox->add_item((int)i,controllerSettings[i].c_str());
    }
    settingEdit=glui->add_edittext_to_panel(panel,"Value");
    AddControl(settingsBox,"controller_setting");
    AddControl(settingEdit,"controller_setting_value");
  }
  controllerCommandIndex = 0;
  GLUI_Listbox* commandsBox = glui->add_listbox_to_panel(panel,"Command",&controllerCommandIndex);
  for(size_t i=0;i<controllerCommands.size();i++) {
    commandsBox->add_item((int)i,controllerCommands[i].c_str());
  }
  commandEdit = glui->add_edittext_to_panel(panel,"Arg",GLUI_EDITTEXT_TEXT);
  commandEdit->set_text("");
  AddControl(commandsBox,"controller_command");
  AddControl(commandEdit,"controller_command_arg");

  //sensors panel
  RobotSensors& sensors = sim->controlSimulators[0].sensors;
  //record default state
  sensorDrawn.resize(sensors.sensors.size(),false);
  sensorMeasurementDrawn.resize(sensors.sensors.size());
  for(size_t i=0;i<sensors.sensors.size();i++) {
    vector<string> names;
    sensors.sensors[i]->MeasurementNames(names);
    sensorMeasurementDrawn[i].resize(names.size(),true);
  }
  //add sensors
  panel = glui->add_rollout("Sensors");
  sensorSelectIndex = 0;
  sensorMeasurementSelectIndex = 0;
  sensorBox = glui->add_listbox_to_panel(panel,"Sensor",&sensorSelectIndex);
  for(size_t i=0;i<sensors.sensors.size();i++)
    sensorBox->add_item(i,sensors.sensors[i]->name.c_str());
  toggleSensorDrawCheckbox = glui->add_checkbox_to_panel(panel,"Show");
  measurementListbox = glui->add_listbox_to_panel(panel,"Measurement",&sensorMeasurementSelectIndex);
  toggleMeasurementDrawCheckbox = glui->add_checkbox_to_panel(panel,"Plot value");
  isolateMeasurementButton = glui->add_button_to_panel(panel,"Isolate");
  //we'll have to intercept these signals manually and dispatch the right command
  AddControl(sensorBox,"");
  AddControl(toggleSensorDrawCheckbox,"");
  AddControl(measurementListbox,"");
  AddControl(toggleMeasurementDrawCheckbox,"");
  AddControl(isolateMeasurementButton,"");

  //posing panel
  panel = glui->add_rollout("Robot posing");

  AddControl(glui->add_checkbox_to_panel(panel,"Pose objects"),"pose_objects");
  AddControl(glui->add_checkbox_to_panel(panel,"Pose by IK"),"pose_ik");
  driver_listbox = glui->add_listbox_to_panel(panel,"Driver",&cur_driver);
  RobotModel* robot = world->robots[0].get();
  for(size_t i=0;i<robot->drivers.size();i++) {
    char buf[256];
    strcpy(buf,robot->driverNames[i].c_str());
    driver_listbox->add_item(i,buf);
  }
  AddControl(driver_listbox,"driver");

  driver_value_spinner = glui->add_spinner_to_panel(panel,"Value",GLUI_SPINNER_FLOAT);
  AddControl(driver_value_spinner,"driver_value");
  AddControl(glui->add_button_to_panel(panel,"Set milestone"),"set_milestone");

  UpdateGUI();

  string appdataPath = AppUtils::GetApplicationDataPath("Klampt");
  string viewFile = appdataPath + string("/simtest_view.txt");
  const static int NR = 24;
  const static char* rules [NR*3]= {"{type:key_down,key:c}","constrain_link","",
                                    "{type:key_down,key:d}","delete_constraint","",
                                    "{type:key_down,key:p}","print_config","",
                                    "{type:key_down,key:a}","advance","",
                                    "{type:key_down,key:\" \"}","command_pose","",
                                    "{type:key_down,key:v}","save_view",viewFile.c_str(),
                                    "{type:key_down,key:V}","load_view",viewFile.c_str(),
                                    "{type:button_press,button:simulate}","toggle_simulate","",
                                    "{type:button_press,button:reset}","reset","",
                                    "{type:button_press,button:set_milestone}","command_pose","",
                                    "{type:button_toggle,button:pose_ik_mode,checked:1}","constrain_point_mode","",
                                    "{type:button_toggle,button:pose_ik,checked:0}","pose_mode","",
                                    "{type:button_toggle,button:force_application_mode,checked:1}","force_application_mode","",
                                    "{type:button_toggle,button:force_application_mode,checked:0}","pose_mode","",
                                    "{type:button_toggle,button:do_logging,checked:1}","log_sim","simtest_log.csv",
                                    "{type:button_toggle,button:do_logging,checked:0}","log_sim","",
                                    "{type:button_toggle,button:do_contact_state_logging,checked:1}","log_contact_state","simtest_contact_log.csv",
                                    "{type:button_toggle,button:do_contact_state_logging,checked:0}","log_contact_state","",
                                    "{type:button_toggle,button:do_contact_wrench_logging,checked:1}","log_contact_wrenches","simtest_wrench_log.csv",
                                    "{type:button_toggle,button:do_contact_wrench_logging,checked:0}","log_contact_wrenches","",
                                    "{type:widget_value,widget:link,value:_0}","set_link","_0",
                                    "{type:widget_value,widget:link_value,value:_0}","set_link_value","_0",
                                    "{type:widget_value,widget:driver,value:_0}","set_driver","_0",
                                    "{type:widget_value,widget:driver_value,value:_0}","set_driver_value","_0",
  };
  for(int i=0;i<NR;i++) {
    AnyCollection c;
    bool res=c.read(rules[i*3]);
    Assert(res == true);
    AddCommandRule(c,rules[i*3+1],rules[i*3+2]);
  }
  return true;
}

void GLUISimTestGUI::UpdateGUI()
{
  RobotModel* robot = world->robots[0].get();
  if(cur_driver >= 0 && cur_driver < (int)robot->drivers.size()) {
    driver_listbox->set_int_val(cur_driver);
    Vector2 limits = robot->GetDriverLimits(cur_driver);
    driver_value_spinner->set_float_limits(limits.x,limits.y);
    double driver_value = robot->GetDriverValue(cur_driver);
    driver_value_spinner->set_float_val(driver_value);
  }
  UpdateSensorGUI();
  UpdateControllerSettingGUI();
}

void GLUISimTestGUI::UpdateControllerSettingGUI()
{
  if(controllerSettingIndex >= 0 && controllerSettingIndex < (int)controllerSettings.size()) {
    string value;
    bool res=sim->robotControllers[0]->GetSetting(controllerSettings[controllerSettingIndex],value);
    if(!res) printf("Failed to get setting %s\n",controllerSettings[controllerSettingIndex].c_str());
    else
      settingEdit->set_text(value.c_str());
  }
}

void GLUISimTestGUI::UpdateSensorGUI()
{
  if(sensorSelectIndex >= 0 && sensorSelectIndex < (int)sensorDrawn.size()) {
    //remember whether the sensor is shown, restore gui widget state
    if(sensorDrawn[sensorSelectIndex])
      toggleSensorDrawCheckbox->set_int_val(1);
    else
      toggleSensorDrawCheckbox->set_int_val(0);
    delete_all(measurementListbox);
    //set up the measurements
    RobotSensors& sensors = sim->controlSimulators[0].sensors;
    vector<string> names;
    sensors.sensors[sensorSelectIndex]->MeasurementNames(names);
    for(size_t i=0;i<names.size();i++)
      measurementListbox->add_item(i,names[i].c_str());
    sensorMeasurementSelectIndex = 0;
    UpdateSensorMeasurementGUI();
  }
}

void GLUISimTestGUI::UpdateSensorMeasurementGUI()
{
  if(sensorSelectIndex >= 0 && sensorSelectIndex < (int)sensorDrawn.size() && sensorMeasurementSelectIndex >= 0 && sensorMeasurementSelectIndex < (int)sensorMeasurementDrawn[sensorSelectIndex].size()) {

    //remember whether the measurement is shown, restore gui widget state
    if(sensorMeasurementDrawn[sensorSelectIndex][sensorMeasurementSelectIndex])
      toggleMeasurementDrawCheckbox->set_int_val(1);
    else
      toggleMeasurementDrawCheckbox->set_int_val(0);
  }
}

void GLUISimTestGUI::Handle_Control(int id)
{
  if(controls[id]==save_movie_button) {
    //resize for movie
    {
      GLint vp[4];
      glGetIntegerv(GL_VIEWPORT,vp);
      int x=vp[0];
      //int y=vp[1];
      int width = vp[2];
      int height = vp[3];

      int totalw = glutGet(GLUT_WINDOW_WIDTH);
      int totalh = glutGet(GLUT_WINDOW_HEIGHT);
      int toolbarw = totalw - width;
      int toolbarh = totalh - height;
      glutReshapeWindow(toolbarw+int(settings["movieWidth"]),toolbarh+int(settings["movieHeight"]));
    }
    ToggleMovie();
    return;
  }
  else if(controls[id]==commandEdit) {
    if(controllerCommandIndex >= 0 && controllerCommandIndex < (int)controllerCommands.size()) {
      bool res=sim->robotControllers[0]->SendCommand(controllerCommands[controllerCommandIndex],commandEdit->get_text());
      if(!res) printf("Failed to send command %s(%s)\n",controllerCommands[controllerCommandIndex].c_str(),commandEdit->get_text());
    }
    return;
  }
  else if(controls[id]==settingsBox) {
    UpdateControllerSettingGUI();
  }
  else if(controls[id]==settingEdit) {
    if(controllerSettingIndex >= 0 && controllerSettingIndex<(int)controllerSettings.size()) {
      bool res=sim->robotControllers[0]->SetSetting(controllerSettings[controllerSettingIndex],settingEdit->get_text());
      if(!res) printf("Failed to set setting %s\n",controllerSettings[controllerSettingIndex].c_str());
    }
    return;
  }
  else if(controls[id]==sensorBox) {
    UpdateSensorGUI();
  }
  else if(controls[id]==toggleSensorDrawCheckbox) {
    if(sensorSelectIndex >= 0 && sensorSelectIndex < (int)sensorDrawn.size()) {
      if(toggleSensorDrawCheckbox->get_int_val()!=0) {
        sensorDrawn[sensorSelectIndex]=1;
        SendCommand("show_sensor",sensorSelectIndex);
      }
      else {
        sensorDrawn[sensorSelectIndex]=0;
        SendCommand("hide_sensor",sensorSelectIndex);
      }
    }
  }
  else if(controls[id]==measurementListbox) {
    UpdateSensorMeasurementGUI();

  }
  else if(controls[id]==toggleMeasurementDrawCheckbox) {
    if(sensorSelectIndex >= 0 && sensorSelectIndex < (int)sensorDrawn.size() && sensorMeasurementSelectIndex >= 0 && sensorMeasurementSelectIndex < (int)sensorMeasurementDrawn[sensorSelectIndex].size()) {
      if(toggleMeasurementDrawCheckbox->get_int_val()!=0) {
        sensorMeasurementDrawn[sensorSelectIndex][sensorMeasurementSelectIndex]=1;
        SendCommand("show_sensor_measurement",sensorSelectIndex,sensorMeasurementSelectIndex);
      }
      else {
        sensorMeasurementDrawn[sensorSelectIndex][sensorMeasurementSelectIndex]=0;
        SendCommand("hide_sensor_measurement",sensorSelectIndex,sensorMeasurementSelectIndex);
      }
    }
  }
  else if(controls[id]==isolateMeasurementButton) {
    if(sensorSelectIndex >= 0 && sensorSelectIndex < (int)sensorDrawn.size() && sensorMeasurementSelectIndex >= 0 && sensorMeasurementSelectIndex < (int)sensorMeasurementDrawn[sensorSelectIndex].size()) {
      for(size_t i=0;i<sensorMeasurementDrawn[sensorSelectIndex].size();i++) {
        if((int)i != sensorMeasurementSelectIndex) {
          sensorMeasurementDrawn[sensorSelectIndex][i] = 0;
          SendCommand("hide_sensor_measurement",sensorSelectIndex,i);
        }
        else {
          sensorMeasurementDrawn[sensorSelectIndex][i] = 1;
          SendCommand("show_sensor_measurement",sensorSelectIndex,i);
        }
      }
    }
  }

  BaseT::Handle_Control(id);
  if(controls[id]==driver_listbox)
    UpdateGUI();
}

void GLUISimTestGUI::Handle_Keypress(unsigned char c,int x,int y)
{
  switch(c) {
  case 'h':
    printf("Keyboard help:\n");
    printf("[space]: sends the milestone to the controller\n");
    printf("s: toggles simulation\n");
    printf("a: advances the simulation one step\n");
    printf("c: in IK mode, constrains link rotation and position\n");
    printf("d: in IK mode, deletes an ik constraint\n");
    printf("v: save current viewport\n");
    printf("V: load viewport\n");
    break;
  default:
    BaseT::Handle_Keypress(c,x,y);
  }
}

bool GLUISimTestGUI::OnCommand(const string& cmd,const string& args)
{
  if(cmd=="update_config") {
    UpdateGUI();
    return true;
  }
  else if(cmd=="update_sim_time") {
    double time;
    if(LexicalCast<double>(args,time)) {
      MovieUpdate(time);
    }
    return true;
  }
  else return BaseT::OnCommand(cmd,args);
}

#endif

redpajama_set_name: RedPajamaGithub


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A Surprising Way To Clean Your Dirty Oven Racks With Ease About a month ago, I posted about a nearly effortless way to clean the inside of your oven. But the oven itself isn�t the only thing that gets dirty after a while � the oven racks can also get caked with baked-on food and grease.
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Occupation: Retired Marital Status: Married No. of Children: 3 Graduation Year: 1962 What's been going on with you since graduation?: It is great to see some names from the past. Stephen and I live in a suburb of Houston; have for 41 years. Enjoy our sons and grandchildren, sports, the symphony, and opera. Would love to hear from you.
Great site. Thank you for doing it.


The infamous Internet Research Agency (IRA), dubbed the "troll farm" at the center of Robert Mueller's ongoing investigation into Russia's election interference, has been evicted from its St. Petersburg headquarters after a series of bomb threats, according to Russian media.
CNN also reported Wednesday that confidential documents ended up on a pro-Russia Twitter account that linked to a website where they were dumped online.
USA prosecutors say evidence linked to its Russian Federation probe has been stolen and spread around online in an attempt to tarnish their investigation. "Enjoy the reading!" The tweet included a link to a webpage that contained file folder names and folder structure matching the material Mueller produced.
In mid-February 2018, the USA authorities brought formal charges against 13 Russian citizens and three Russian organizations accusing them of attempting to meddle in the United States political processes and the 2016 presidential election campaign.
On the same day, a journalist contacted Mueller's office to report receiving a Twitter message from someone who said they had hacked a Russian legal firm that had received the evidence from Concord's USA based law firm Reed Smith LLP. A protective order in the case could not be enforced in Russian Federation.
Prosecutors said in a court filing Wednesday that representatives of Concord Management and Consulting should not be permitted to view additional sensitive evidence outside of the U.S. because it poses risks to national security.
But Concord says it needs to share documents in the case with Russians, including Prigozhin, as it prepares for trial and the US-based lawyers translate much of it from Russian.
The filing also notes that the discovery files labeled "sensitive" identify "uncharged individuals" who government investigators believe are "continuing to engage in operations to interfere with lawful US government functions like those activities charged in the indictment".
In an indictment previous year, Mueller's office said Russian defendants adopted false online personas to push divisive messages, traveled to the United States to collect intelligence and orchestrated political rallies while posing as Americans.
Concord Management is being prosecuted in Mueller's investigation of USA allegations that Moscow meddled in the American democratic process to help Trump defeat Democrat Hillary Clinton.
Mueller's office most recently indicted a long-time Trump confidant, Republican political operative Roger Stone, on charges of obstruction, witness tampering, and lying to Congress. In all, 34 people have pleaded guilty, been indicted or otherwise swept up in the broader inquiry.


text:
Q: Can we Translate english into hindi? I want to translate english to hindi but emualtor shows boxes ?
help me...
final TextView textV = (TextView) findViewById(R.id.textView1);

    textV.setTypeface(Typeface.createFromAsset(getAssets(),"K010.ttf"));
    try{
    Translate.setHttpReferrer("www.some.com");
    String str1=Translate.execute("love", Language.ENGLISH, Language.HINDI);
    textV.setText(str1);

still i am getting boxes.....help me

A: Emulator shows boxes...may mean that the required font support is not present on your machine...please check if the Hindi font has been installed...
But I did not understand the need for you to use the webView.loadDataWithBaseURL()...this would not do the translation I think...This will just try to load the given data into the WebView...and may be as the Hindi font is not supported the boxes are being displayed...
Are you developing kind of translator application or web page?
where you type English in one TextView and select the langauge to which it has to be translated and the press an buttons "Translate"...and the translated string will be displayed in other TextView...


I've always tried to make teaching various things that I know about this game easier to others. I have guides after guides after guides, but I still run into 'noobs' with no sense of direction. Even tough I have a lot of good quality guides/tuts, this can be overwhelming for the 'noob'. They may not know which threads to read first, or at least read a list of desired threads in a proper order.
Once you have 'mastered' the info of a particular thread, move onto the next one. This will be a long journey. Don't expect to learn everything in a few days. Going through all the threads listed below will take weeks.
***A media card reader is simply a small device that uses a USB plugin that has a SD slot in it. You only need it if you computer doesn't have an SD slot.
For those wondering, yes I know you technically don't need a Wii & SD Card. One can do everything with Dolphin. But a lot of the beginner guides are designed around the use of a Wii Console. If you are a complete noob and don't have any way to get a Wii with SD card, this will be a lot harder to do.
Even if you are not a complete noob (maybe somewhere in the intermediate level range if you will), this thread will still be of good use to you.
Enough talk, here are the threads. One at time! Follow the order!
Summary: The very beginning where everything starts... Let's go.
Summary: An overview of many terms (or slang words) used in coding/hacking. You will need to get your vocabulary up early on.
Summary: You need an SD card, this thread will give you info of which SD cards are best/worse.
Summary: The custom Wii channel that allows you to hack your Wii and/or play Wii games with cheats.
Summary: Very basic documentation of formats of very basic cheat codes.
Summary: Modifies your wii greatly to allow many hacks such as the ability to play games on a USB stick. You will learn about Bootmii and other WIi Hacing items.
Summary: ANother step to get you close to play games on a USB stick.
Summary: Teaches you endlesss ways to modify ISO/WBFS files.
Summary: Yep, this is it. How to make your own real codes from scratch!
Summary: This thread is linked within the Dolphin Cheat Codes thread. Scared to learn ASM? Fear not! This thread by far is the best guide anywhere on the web to teach you basic PowerPC Assembly Code.
Summary: This thread is linked within the ASM Tutorial thread. Once you have learned ASM, view this as a refrence for ASM assistance.
Summary: Once your ASM codes get a bit less basic, you may need to store data/values at a unused spot in Memory. This thread will teach you how.
Summary: Ew floaters, let's convert them to integers!
Welp, there you go. Not many ppl in this community have the patience to learn all of this.
Best of luck! Thanks for reading!
This is amazing!! I felt that before this it was slightly on the confusing side, but this really helps. Kudos. This has really inspired me to learn ASM properly and I do have a few cool code ideas already. Thank you so much for everything you have done for this site - it is truly insane, you should be proud.
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Know just how much you could spend. Know the area where you wish to buy. Know the process. Since it will certainly ensure that you are qualified to purchase the building, protecting very early financing is essential. When the time comes to make an offer, being pre-approved will certainly give you higher negotiating power.
Building Market: 20 Ways To Buy And Sell Residential or commercial property amanda.417: I do not have a residence, however it actually depends. If its been listed for a long time, I would bid lower than if it just jumped on the market. My moms and dads recently got a house and they needed to bid on 3 to finally get onethe various other two (and also possibly the one they wound up obtaining, Im not exactly sure) both went for more than the asking rate. It truly depends on how sought after that house is.
Dont neglect to contact your local housing authorities and also companies for extra down payment assistance that you can use with CalHFAs initial home loan and also down payment support car loans to reduce your general month-to-month home mortgage payment.
The best ways to Make An Offer For A Residence Little understood to vacationers as well as those planning to purchase home in Italy; Calabria uses a glimpse into a different Italy, as does the property in Calabria. Haunted by memories of even more renowned times when it was the site of rich as well as effective Greek nests, the architecture of building in Calabria often shows such interests as Greek talking towns and an Albanian area going back 500 years. Along with a region rich in background, mountainous Calabria and also the home in Calabria brings in walkers to its high level plains as well as alpine views in the Sila area; and also for sun applicants, there is Calabria property in the ornate seaside towns with incredible sights. With the hills on one side and 780km of coast, on the other, Calabria will certainly take your Fairburnth away.
If the amount of the expenses equates to greater than exactly what you're paying for housing now, then deduct your rental fee from the overall. The difference is exactly what you need to consider moving to your savings account for a couple of months to mimic what you 'd be paying to cover your monthly new-home costs.
The major drawback with co-ops is that they can be hard to rent out. A condo could be more costly, but a condo lets you rent it out whenever you desire and it doesn't call for board authorization, Tan told us.


Van Kranendonk, M. and Ivanic, T. and Wingate, M. and Kirkland, C. and Cliff, J. and Wyche, S. 2011. Crustal evolution of the Murchison Domain and implications for whole-of-Yilgarn tectonic models. In GSWA 2011 extended abstracts: promoting the prospectivity of Western Australia, 31-33: Geological Survey of Western Australia.


text:
Jørgen-Frantz Jacobsen (Tórshavn, 1900. november 29. – Vejlefjord, 1938. március 24.) egyik legismertebb feröeri író.

Jacobsen dán nyelven írt, és csak később fordították le anyanyelvére, feröerire. Legismertebb műve a Barbara című regény, amelyet 1939-ben adtak ki, és Beinta Kristina Broberg lelkészné régi feröeri történetén alapszik. Magyarul Nehéz a hűtlennek címen adták ki.

Élete

Jørgen Frantz Jacobsen a Koppenhágai Egyetemen történelem-francia szakon végzett. Különösen sokat foglalkozott Skandinávia történelmével. Újságíróként számos tárcát és cikket írt, valamint két könyvet Feröer, illetve Dánia és a többi skandináv állam politikai kapcsolatairól.

21 éves korában tuberkulózist kapott, és rövid életéből hosszú időszakokat töltött tüdőszanatóriumokban. Szépirodalmi ambíciókat táplált, és 1934-ben kezdte el élete fő művét, a Barbara című történelmi regényt. A könyv, amelyet dán nyelven írt, és amelyet csak halála után adtak ki, kezdettől fogva sikernek bizonyult, és számos nyelvre lefordították. Jacobsen lelkes levélíró volt, és szoros levelezésben állt vele egyidős barátjával és rokonával, a költő William Heinesennel (1900-1991). Heinesen 1958-ban megjelentetett egy válogatást levelezésükből Det dyrebare liv ("Az értékes élet") címen.

Leveleiben megemlítette valószínűleg reménytelen szerelmét egy nő iránt, akit Barbarának nevezett (valójában unokatestvére, Estrid Bannister Good állt a név mögött), és feltárta egy regény megírásának tervét, amely a fiatal és szépségével mindenkit elvarázsoló lelkészné, Beinta Kristina Broberg 1700 körüli évekből származó történetére épül. A Løgting titkárának, Peder Sørensen Brobergnek a lánya volt felelős a hagyomány szerint első két férje haláláért, és a harmadikat is boldogtalanságba sodorta. A történelmi alapok azonban csak keretként szolgáltak; a Jacobsen által megalkotott Barbara csak nagyon kevés hasonlóságot mutat a mondák gonosz csábítójával.

A regényt 1961-ben az Universum Film megfilmesítette, de a forgatókönyvet meglehetősen szabadon kezelve; például Barbara a filmben egy orvos felesége volt, nem egy lelkészé. A második megfilmesítés Nils Malmros 1997-ben forgatott Barbara című filmje.

Művei
 1927 - Danmark og Færøerne (esszé)
 1936 - Færøerne, natur og folk (esszé)
 1939 - Barbara (regény)
 1972 - feröeri fordítás (Barba og harra Pál, Christian Matras fordításában)
 1941 - Den yderste kyst (esszé)
 1943 - Nordiske kronikker (esszé)
 1958 - Det dyrebare liv (levelek)

Magyarul

Nehéz a hűtlennek (Barbara); ford. Könyves Károly; Attika, Bp., 1944

Fordítás

További információk
 Jørgen-Frantz Jacobsen , Feröeri Írószövetség
 Jørgen-Frantz Jacobsen, DanishLiterature.info

Feröeri költők, írók
1900-ban született személyek
1938-ban elhunyt személyek

redpajama_set_name: RedPajamaWikipedia


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