C++编程示例:boost::ratio_negate的使用

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本文介绍了如何在C++中使用boost::ratio_negate功能,展示了一个示例程序,该程序定义一个比例,取其反,并输出原始及取反后比例的分子和分母,强调了Boost库在比例计算中的应用。

C++编程示例:boost::ratio_negate的使用

boost::ratio_negate是一个Boost库中的功能,它用于取反给定比例。在本文中,我们将探讨如何使用boost::ratio_negate,并提供相应的源代码示例。

首先,确保已经安装了Boost库。你可以从Boost官方网站(https://www.boost.org ↗)下载并安装最新版本的Boost库。

接下来,我们将创建一个简单的C++程序,演示boost::ratio_negate的用法。以下是完整的源代码示例:

#include <iostream>
#include <boost/ratio.hpp>

int 
use_sim_time: True amcl: ros__parameters: use_sim_time: ${use_sim_time} # 继承全局时间配置 alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_link" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: False global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "differential" # 根据机器人类型调整(差速/全向) save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: True transform_tolerance: 0.5 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 # 行为树导航器配置 bt_navigator: ros__parameters: use_sim_time: ${use_sim_time} global_frame: map robot_base_frame: base_link odom_topic: /odom # 使用绝对路径确保找到正确的BT文件,避免路径冲突 default_bt_xml_filename: "/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node # 添加路径贯穿多个目标点的插件 - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2_distance_controller_bt_node - nav2_speed_controller_bt_node - nav2_truncate_path_action_bt_node - nav2_goal_updater_node_bt_node - nav2_recovery_node_bt_node - nav2_pipeline_sequence_bt_node - nav2_round_robin_node_bt_node - nav2_transform_available_condition_bt_node - nav2_time_expired_condition_bt_node - nav2_path_expiring_timer_condition - nav2_distance_traveled_condition_bt_node - nav2_remove_passed_goals_action_bt_node # 控制器配置(本地规划) controller_server: ros__parameters: use_sim_time: ${use_sim_time} controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 # 差速机器人可设为0.0 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] controller_plugins: ["FollowPath"] # 进度检查器参数 progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # 超时未移动则触发恢复行为 # 目标检查器参数 general_goal_checker: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 # 位置误差容忍度(米) yaw_goal_tolerance: 0.25 # 角度误差容忍度(弧度) stateful: True # DWB本地规划器参数 FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 max_vel_x: 0.26 # 最大线速度(根据机器人调整) min_vel_y: 0.0 max_vel_y: 0.0 # 差速机器人Y方向速度为0 min_vel_theta: -1.82 max_vel_theta: 1.82 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 1 # 差速机器人Y方向采样数设为1 vtheta_samples: 20 sim_time: 1.7 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.5 xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 rot_stopped_velocity: 0.25 prune_plan: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 # 局部代价地图配置 local_costmap: local_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 5.0 # 更新频率(Hz) publish_frequency: 2.0 # 发布频率(Hz) global_frame: odom # 局部地图参考系(里程计) robot_base_frame: base_link rolling_window: true # 滚动窗口(跟随机器人移动) width: 3 # 宽度(米) height: 3 # 高度(米) resolution: 0.05 # 分辨率(米/格) transform_tolerance: 0.5 plugins: ["voxel_layer", "inflation_layer"] voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan # 激光雷达数据来源 scan: topic: /scan # 激光雷达话题(确保与实际一致) max_obstacle_height: 2.0 clearing: True # 允许清除障碍物 marking: True # 允许标记障碍物 data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 # 膨胀半径(根据机器人半径调整) cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 全局代价地图配置 global_costmap: global_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 1.0 publish_frequency: 1.0 global_frame: map # 全局地图参考系(地图) robot_base_frame: base_link robot_radius: 0.22 # 机器人半径(米,根据实际调整) resolution: 0.05 transform_tolerance: 0.2 plugins: ["static_layer", "obstacle_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer" enabled: True map_subscribe_transient_local: True obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 地图服务器配置 map_server: ros__parameters: use_sim_time: ${use_sim_time} # 确保地图文件路径正确(.yaml和.pgm文件需在同一目录) yaml_filename: "/home/yahboom/hex_aqacs_planner/map.yaml" # 规划器服务器配置(全局规划) planner_server: ros__parameters: use_sim_time: ${use_sim_time} expected_planner_frequency: 20.0 planner_plugins: ["AQACSPlanner"] # 使用AQACS规划器 AQACSPlanner: # 修正插件名称格式,使用命名空间形式 plugin: "hex_aqacs_planner::AQACSPlanner" alpha: 1.0 beta: 2.0 rho: 0.1 ant_count: 50 q: 100.0 hex_side: 0.1 # 六边形边长(米) # 生命周期管理器配置(关键:管理节点启动顺序) lifecycle_manager_navigation: ros__parameters: use_sim_time: ${use_sim_time} # 节点启动顺序:先启动地图和定位,再启动规划和控制 node_names: ["map_server", "amcl", "planner_server", "controller_server", "bt_navigator"] autostart: True # 自动启动所有节点 bond_timeout: 10000 # 超时时间(毫秒) 帮我修改一下吧
10-27
user@ubuntu:~$ roslaunch mavros px4.launch ... logging to /home/user/.ros/log/2fd11034-6bbc-11f0-b7a6-3d5c010d0769/roslaunch-ubuntu-57392.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:36439/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mavros/camera/frame_id: base_link * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_rate: 1.0 * /mavros/conn/system_time_rate: 1.0 * /mavros/conn/timeout: 10.0 * /mavros/conn/timesync_rate: 10.0 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/laser_1_sub/id: 3 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/laser_1_sub/subscriber: True * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /mavros/distance_sensor/lidarlite_pub/id: 1 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /mavros/distance_sensor/lidarlite_pub/send_tf: True * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0 * /mavros/distance_sensor/sonar_1_sub/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_sub/subscriber: True * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0 * /mavros/fake_gps/eph: 2.0 * /mavros/fake_gps/epv: 2.0 * /mavros/fake_gps/fix_type: 3 * /mavros/fake_gps/geo_origin/alt: 408.0 * /mavros/fake_gps/geo_origin/lat: 47.3667 * /mavros/fake_gps/geo_origin/lon: 8.55 * /mavros/fake_gps/gps_rate: 5.0 * /mavros/fake_gps/mocap_transform: True * /mavros/fake_gps/satellites_visible: 5 * /mavros/fake_gps/tf/child_frame_id: fix * /mavros/fake_gps/tf/frame_id: map * /mavros/fake_gps/tf/listen: False * /mavros/fake_gps/tf/rate_limit: 10.0 * /mavros/fake_gps/tf/send: False * /mavros/fake_gps/use_mocap: True * /mavros/fake_gps/use_vision: False * /mavros/fcu_protocol: v2.0 * /mavros/fcu_url: /dev/ttyACM0:57600 * /mavros/gcs_url: * /mavros/global_position/child_frame_id: base_link * /mavros/global_position/frame_id: map * /mavros/global_position/gps_uere: 1.0 * /mavros/global_position/rot_covariance: 99999.0 * /mavros/global_position/tf/child_frame_id: base_link * /mavros/global_position/tf/frame_id: map * /mavros/global_position/tf/global_frame_id: earth * /mavros/global_position/tf/send: False * /mavros/global_position/use_relative_alt: True * /mavros/image/frame_id: px4flow * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /mavros/imu/frame_id: base_link * /mavros/imu/linear_acceleration_stdev: 0.0003 * /mavros/imu/magnetic_stdev: 0.0 * /mavros/imu/orientation_stdev: 1.0 * /mavros/landing_target/camera/fov_x: 2.0071286398 * /mavros/landing_target/camera/fov_y: 2.0071286398 * /mavros/landing_target/image/height: 480 * /mavros/landing_target/image/width: 640 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL * /mavros/landing_target/listen_lt: False * /mavros/landing_target/mav_frame: LOCAL_NED * /mavros/landing_target/target_size/x: 0.3 * /mavros/landing_target/target_size/y: 0.3 * /mavros/landing_target/tf/child_frame_id: camera_center * /mavros/landing_target/tf/frame_id: landing_target * /mavros/landing_target/tf/listen: False * /mavros/landing_target/tf/rate_limit: 10.0 * /mavros/landing_target/tf/send: True * /mavros/local_position/frame_id: map * /mavros/local_position/tf/child_frame_id: base_link * /mavros/local_position/tf/frame_id: map * /mavros/local_position/tf/send: False * /mavros/local_position/tf/send_fcu: False * /mavros/mission/pull_after_gcs: True * /mavros/mission/use_mission_item_int: True * /mavros/mocap/use_pose: True * /mavros/mocap/use_tf: False * /mavros/mount/debounce_s: 4.0 * /mavros/mount/err_threshold_deg: 10.0 * /mavros/mount/negate_measured_pitch: False * /mavros/mount/negate_measured_roll: False * /mavros/mount/negate_measured_yaw: False * /mavros/odometry/fcu/map_id_des: map * /mavros/odometry/fcu/odom_child_id_des: base_link * /mavros/odometry/fcu/odom_parent_id_des: odom * /mavros/plugin_blacklist: ['safety_area', '... * /mavros/plugin_whitelist: [] * /mavros/px4flow/frame_id: px4flow * /mavros/px4flow/ranger_fov: 0.118682 * /mavros/px4flow/ranger_max_range: 5.0 * /mavros/px4flow/ranger_min_range: 0.3 * /mavros/safety_area/p1/x: 1.0 * /mavros/safety_area/p1/y: 1.0 * /mavros/safety_area/p1/z: 1.0 * /mavros/safety_area/p2/x: -1.0 * /mavros/safety_area/p2/y: -1.0 * /mavros/safety_area/p2/z: -1.0 * /mavros/setpoint_accel/send_force: False * /mavros/setpoint_attitude/reverse_thrust: False * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /mavros/setpoint_attitude/tf/frame_id: map * /mavros/setpoint_attitude/tf/listen: False * /mavros/setpoint_attitude/tf/rate_limit: 50.0 * /mavros/setpoint_attitude/use_quaternion: False * /mavros/setpoint_position/mav_frame: LOCAL_NED * /mavros/setpoint_position/tf/child_frame_id: target_position * /mavros/setpoint_position/tf/frame_id: map * /mavros/setpoint_position/tf/listen: False * /mavros/setpoint_position/tf/rate_limit: 50.0 * /mavros/setpoint_raw/thrust_scaling: 1.0 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED * /mavros/startup_px4_usb_quirk: False * /mavros/sys/disable_diag: False * /mavros/sys/min_voltage: 10.0 * /mavros/target_component_id: 1 * /mavros/target_system_id: 1 * /mavros/tdr_radio/low_rssi: 40 * /mavros/time/time_ref_source: fcu * /mavros/time/timesync_avg_alpha: 0.6 * /mavros/time/timesync_mode: MAVLINK * /mavros/vibration/frame_id: base_link * /mavros/vision_pose/tf/child_frame_id: vision_estimate * /mavros/vision_pose/tf/frame_id: odom * /mavros/vision_pose/tf/listen: False * /mavros/vision_pose/tf/rate_limit: 10.0 * /mavros/vision_speed/listen_twist: True * /mavros/vision_speed/twist_cov: True * /mavros/wheel_odometry/child_frame_id: base_link * /mavros/wheel_odometry/count: 2 * /mavros/wheel_odometry/frame_id: odom * /mavros/wheel_odometry/send_raw: True * /mavros/wheel_odometry/send_twist: False * /mavros/wheel_odometry/tf/child_frame_id: base_link * /mavros/wheel_odometry/tf/frame_id: odom * /mavros/wheel_odometry/tf/send: False * /mavros/wheel_odometry/use_rpm: False * /mavros/wheel_odometry/vel_error: 0.1 * /mavros/wheel_odometry/wheel0/radius: 0.05 * /mavros/wheel_odometry/wheel0/x: 0.0 * /mavros/wheel_odometry/wheel0/y: -0.15 * /mavros/wheel_odometry/wheel1/radius: 0.05 * /mavros/wheel_odometry/wheel1/x: 0.0 * /mavros/wheel_odometry/wheel1/y: 0.15 * /rosdistro: noetic * /rosversion: 1.17.4 NODES / mavros (mavros/mavros_node) auto-starting new master process[master]: started with pid [57400] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 2fd11034-6bbc-11f0-b7a6-3d5c010d0769 process[rosout-1]: started with pid [57410] started core service [/rosout] process[mavros-2]: started with pid [57418] [INFO] [1753711645.697546795]: FCU URL: /dev/ttyACM0:57600 [INFO] [1753711645.699861079]: serial0: device: /dev/ttyACM0 @ 57600 bps [FATAL] [1753711645.700168484]: FCU: DeviceError:serial:open: No such file or directory ================================================================================REQUIRED process [mavros-2] has died! process has finished cleanly log file: /home/user/.ros/log/2fd11034-6bbc-11f0-b7a6-3d5c010d0769/mavros-2*.log Initiating shutdown! ================================================================================ [mavros-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
07-29
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