over_ptr.cpp

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#include #class

本文提供了一个简单的C++程序示例，演示了如何使用指向成员运算符(->)来访问类的成员变量。通过定义一个名为sample的类，并在其中重载指向运算符，实现了对象成员的间接访问。

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  name="google_ads_frame" marginwidth="0" marginheight="0" src="http://pagead2.googlesyndication.com/pagead/ads?client=ca-pub-5572165936844014&dt=1194442938015&lmt=1194190197&format=336x280_as&output=html&correlator=1194442937843&url=file%3A%2F%2F%2FC%3A%2FDocuments%2520and%2520Settings%2Flhh1%2F%E6%A1%8C%E9%9D%A2%2FCLanguage.htm&color_bg=FFFFFF&color_text=000000&color_link=000000&color_url=FFFFFF&color_border=FFFFFF&ad_type=text&ga_vid=583001034.1194442938&ga_sid=1194442938&ga_hid=1942779085&flash=9&u_h=768&u_w=1024&u_ah=740&u_aw=1024&u_cd=32&u_tz=480&u_java=true" frameborder="0" width="336" scrolling="no" height="280" allowtransparency="allowtransparency"> #include <iostream.h>

class sample {
 public:
   int i;
   sample *operator->(void) {return this;}
 };

void main(void)
 {
   sample obj;

   obj->i = 10;      // Same as obj.i
   cout << obj.i << " " << obj->i;
 }

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这个。
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我在销毁的时候，我需要销毁我的朋友，我的朋友也需要销毁我，这样就出现了循环依赖问题。不知道谁先销毁，谁后销毁。比方说我是一个Person,需要存储朋友的信息，需要用一个指针来指向另外一个人类，如果使用。7.weak_ptr与一个非常难发现的错误_哔哩哔哩_bilibili。需要用一个不需要拥有所有权的指针来标记该同类对象。,那么在销毁时会遇到循环依赖问题。可是如果让C3和C4互为朋友。（2）解决方案：将头文件的。二、一个难发现的错误（修改头文件cat.h。
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# include class sample {  int n; public:  sample(){}  sample(int i){n=i;}  sample &operator=(sample s)      //重载赋值运算符  {   n=s.n;   return *this;  }  void disp()  {   cout  } }; void
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#include &lt;iostream&gt; #include &lt;vector&gt; #include &lt;fstream&gt; using namespace std;  #include &lt;boost/timer.hpp&gt;   // for sophus #include &lt;sophus/se3.h&gt; using Sophus::SE...
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int mavlink_main(int argc, char *argv[]) { if (argc 2) { usage(); //使用说明
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@brief: Caffe全连接层ip2–>ip1反向传播（不包含ReluLayer） 以LeNet全连接层反向传播为例，ip2–>ip1，如图示，输入神经元个数500，输出神经元个数10，batchsize为64，则要更新的权重矩阵为500x10。 对每一个输出神经元 yi=∑djwji∗xj+biasmultiplier∗bi,∴∂yi∂wji=xj y_i=\sum _j^dw_{ji}
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intrusive_ptr與unique_ptr，shared_ptr等一樣，都是smart pointer。但是intrusive_ptr比較特別，它所指向的物件類型必須繼承自intrusive_ptr_target，而intrusive_ptr_target必須實現引用計數相關的函數才行。 在PyTorch中，StorageImpl繼承自c10::intrusive_ptr_target，所以c10::intrusive_ptr可以與StorageImpl搭配使用。
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vs2022 cpp yvals_core.h 文件注释 比较重要的一点是STL内部很多函数已经使用了并行算法 可以考虑参考STL内部的并行算法实现方式来改进代码
error: no match for ‘operator=’ (operand types are ‘std::shared_ptr<ft::per_env::PerEnvInternalGroundSignList>’ and ‘ft::per_env::PerEnvInternalGroundSignList_St’ {aka ‘ft::per_env::PerEnvInternalGroundSignList’}) 82 | this->in_ground_sign_ptr = mapper_info.ground_sign_list;
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好的，我现在需要解决用户遇到的编译错误：`error: no match for ‘operator=’ (operand types are ‘std::shared_ptr<ft::per_env::... Note over SharedPtr: 独立生命周期管理 deactivate StackObj ```
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009 gtsam/examples/ImuFactorsExample.cpp
MoveBase::MoveBase(tf2_ros::Buffer &tf) : tf_(tf), as_(NULL), planner_costmap_ros_(NULL), controller_costmap_ros_(NULL), bgp_loader_("nav_core", "nav_core::BaseGlobalPlanner"), blp_loader_("nav_core", "nav_core::BaseLocalPlanner"), recovery_loader_("nav_core", "nav_core::RecoveryBehavior"), planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL), runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) { // as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false); ros::NodeHandle private_nh("~"); ros::NodeHandle nh; recovery_trigger_ = PLANNING_R; // get some parameters that will be global to the move base node std::string local_planner; // private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("move_base/saveMapping", saveMapping, false); private_nh.param("savePath", savePath, std::string("/home/duzhong/dzacs/src/dzglobalplanner/mapping.txt")); private_nh.param("base_local_planner", local_planner, std::string("dwa_local_planner/DWAPlannerROS")); // private_nh.param("base_local_planner", local_planner, std::string("teb_local_planner/TebLocalPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); private_nh.param("global_costmap/global_frame", global_frame_, std::string("map")); private_nh.param("planner_frequency", planner_frequency_, 1.0); private_nh.param("controller_frequency", controller_frequency_, 3.0); private_nh.param("planner_patience", planner_patience_, 5.0); private_nh.param("controller_patience", controller_patience_, 15.0); private_nh.param("max_planning_retries", max_planning_retries_, -1); // disabled by default printf("savePath----move_base-->-=%s\n\n\n\n", savePath.c_str()); private_nh.param("oscillation_timeout", oscillation_timeout_, 0.0); private_nh.param("oscillation_distance", oscillation_distance_, 0.5); // set up plan triple buffer planner_plan_ = new std::vector<geometry_msgs::PoseStamped>(); latest_plan_ = new std::vector<geometry_msgs::PoseStamped>(); controller_plan_ = new std::vector<geometry_msgs::PoseStamped>(); // set up the planner's thread planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this)); // for commanding the base vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1); current_goal_pub_ = private_nh.advertise<geometry_msgs::PoseStamped>("current_goal", 0); plan_pub_ = private_nh.advertise<nav_msgs::Path>("plan", 1); all_plan_pub_ = private_nh.advertise<nav_msgs::Path>("allplan", 1); ros::NodeHandle action_nh("move_base"); action_goal_pub_ = action_nh.advertise<move_base_msgs::MoveBaseActionGoal>("goal", 1); // we'll provide a mechanism for some people to send goals as PoseStamped messages over a topic // they won't get any useful information back about its status, but this is useful for tools // like nav_view and rviz ros::NodeHandle simple_nh("move_base_simple"); goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, boost::bind(&MoveBase::goalCB, this, _1)); // we'll assume the radius of the robot to be consistent with what's specified for the costmaps private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325); private_nh.param("local_costmap/circumscribed_radius", circumscribed_radius_, 0.46); private_nh.param("clearing_radius", clearing_radius_, circumscribed_radius_); private_nh.param("conservative_reset_dist", conservative_reset_dist_, 0.21); private_nh.param("shutdown_costmaps", shutdown_costmaps_, false); private_nh.param("clearing_rotation_allowed", clearing_rotation_allowed_, true); private_nh.param("recovery_behavior_enabled", recovery_behavior_enabled_, true); private_nh.param("road_paths_savePath", road_paths_savePath, std::string("/home/duzhong/dzacs/src/resource/road_paths")); private_nh.param("stop_points_savePath", stop_points_savePath, std::string("/home/duzhong/dzacs/src/resource/stop_points")); if (saveMapping) { printf("move_base--> saveMapping = true\n"); } else if (!saveMapping) { printf("move_base--> saveMapping = false\n"); } // create the ros wrapper for the planner's costmap... and initializer a pointer we'll use with the underlying map planner_costmap_ros_ = new costmap_2d::Costmap2DROS("global_costmap", tf_); planner_costmap_ros_->pause(); // initialize the global planner /* try { planner_ = bgp_loader_.createInstance(global_planner); planner_->initialize(bgp_loader_.getName(global_planner), planner_costmap_ros_); } catch (const pluginlib::PluginlibException &ex) { ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", global_planner.c_str(), ex.what()); exit(1); } */ // create the ros wrapper for the controller's costmap... and initializer a pointer we'll use with the underlying map controller_costmap_ros_ = new costmap_2d::Costmap2DROS("local_costmap", tf_); controller_costmap_ros_->pause(); // create a local planner try { tc_ = blp_loader_.createInstance(local_planner); ROS_INFO("Created local_planner %s", local_planner.c_str()); tc_->initialize(blp_loader_.getName(local_planner), &tf_, controller_costmap_ros_); } catch (const pluginlib::PluginlibException &ex) { ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", local_planner.c_str(), ex.what()); exit(1); } // Start actively updating costmaps based on sensor data planner_costmap_ros_->start(); controller_costmap_ros_->start(); // advertise a service for getting a plan make_plan_srv_ = private_nh.advertiseService("make_plan", &MoveBase::planService, this); // advertise a service for clearing the costmaps clear_costmaps_srv_ = private_nh.advertiseService("clear_costmaps", &MoveBase::clearCostmapsService, this); // if we shutdown our costmaps when we're deactivated... we'll do that now if (shutdown_costmaps_) { ROS_DEBUG_NAMED("move_base", "Stopping costmaps initially"); planner_costmap_ros_->stop(); controller_costmap_ros_->stop(); } // load any user specified recovery behaviors, and if that fails load the defaults if (!loadRecoveryBehaviors(private_nh)) { loadDefaultRecoveryBehaviors(); } // initially, we'll need to make a plan state_ = PLANNING; // we'll start executing recovery behaviors at the beginning of our list recovery_index_ = 0; foundObstacleFlag = 0; pursuitSpeed = 0.6; pubtargetSpeed = 0.6; recvScanFlag = 0; saveMappingMsg.data = 0; road_points_index = 0; stop_point_signal_msg.data = 0; sub_lasersScan = nh.subscribe("scan", 1, &MoveBase::callback_lasersScan, this); sub_saveMapping = nh.subscribe("savemapping", 1, &MoveBase::callback_saveMapping, this); hgglobalplannerpub = private_nh.advertise<move_base_msgs::hgpathplanner>("hgglobalplanner", 10); hglocationpub = private_nh.advertise<move_base_msgs::hglocation>("hglocation", 10); angle_pub = nh.advertise<geometry_msgs::Twist>("pursuitAngle", 1); vis_pub = nh.advertise<visualization_msgs::Marker>("visualization_marker", 10); stop_point_signal = private_nh.advertise<std_msgs::UInt8>("stop_signal",1); std::vector<std::string> mapFolders = { road_paths_savePath, stop_points_savePath}; loadAllMaps(mapFolders); roadPoints = road_paths[road_points_index]; stopPoints = stop_Points[0]; doplanner(); }分析一下这一段ROS代码的用处,我想添加一个接受其他几个节点话题发布的消息，对订阅的消息进行综合判断，进而指定导航路线。我该怎么做，事自己写一个类还是在这个MoseBase里面写
最新发布
07-29
MoveBase类在move_base包内，核心文件是move_base.cpp和move_base.h。它作为协调器管理全局规划器（如global_planner::GlobalPlanner）、局部规划器（如base_local_planner::TrajectoryPlanner）和恢复行为三大模块...
#!/usr/bin/env python3 # gerona动态调参 import rospy from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion, PoseWithCovarianceStamped, Twist from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal from nav_msgs.msg import Path, Odometry from std_msgs.msg import Int32 from actionlib_msgs.msg import GoalStatusArray class MultiPointNavigation(): def __init__(self): self.current_goal = 0 self.param = [[[2.0],[3.14, 1.0], [-3.14,1.0],[1.0]],[[1.57,0.2],[2.0],[-1.57,0.2],[1.0]]] self.goals = [ PoseStamped( header = rospy.Header(frame_id = 'map'), pose = Pose( position = Point(7.906, 3.960, 0.0), orientation = Quaternion(0.0, 0.0, 0.6893,0.7243) ) ), PoseStamped( header = rospy.Header(frame_id = 'map'), pose = Pose( position = Point(3.4969,7.4602, 0.0), orientation = Quaternion(0.0, 0.0, 0.999998,0.00157) ) ) ] self.flag=True self.goal_pub = rospy.Publisher('/gerona/goal', PoseStamped, queue_size=5) # self.goal_pub = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=5) self.over_sub = rospy.Subscriber('/follow_path/status', GoalStatusArray, self.path_plan) # self.path_plan(self.current_goal) def path_plan(self, msg): if msg.status_list and msg.status_list[-1].status == 3: # Check if the last goal is reached # if msg.status_list and msg.status_list[-1].status == GoalStatus.SUCCEEDED: # Check if the last goal is reached if self.current_goal < len(self.goals) : # self.current_goal += 1 rospy.set_param("/static_path/segments", self.param[self.current_goal]) self.goal_pub.publish(self.goals[self.current_goal]) print("%d",self.current_goal) self.current_goal += 1 else: print("All goals reached") if __name__ == '__main__': rospy.init_node('gerona_multi') MultiPointNavigation() rospy.spin()变成CPP文件
07-08
super().__init__(name) self.get_logger().info("大家好,我是作家%s。" % name) 引用[4]中也有C++节点的写法（虽然没有给出完整C++代码，但我们可以根据ROS2 C++节点的通用写法来转换）。 另外，用户提供的...
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  #include void main(void) {   printf ("This is line one.");   printf ("This is the second line."); } 
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  #include float sample_function(float i);double sample_function(double i);void main(void){ cout    cout }float sample_function(float i){ return i;}double sample_function(double i){ return -i;
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