我将你给我的代码加到了原本的代码里，解决了VS code里红线报错的错误后，进行编译报错：ld returned 1 exit status。下面完整代码，请你帮我看看哪里有错误。
#include <booster/robot/b1/b1_loco_client.hpp>
#include <booster/idl/b1/RemoteControllerState.h>
#include <booster/robot/channel/channel_subscriber.hpp>
#include <chrono>
#include <iostream>
#include <thread>
#include <sstream>
#include <string>
#include <vector>
#include <boost/iterator/detail/config_def.hpp>
// 假设 MoveHandEndEffectorWithAux 已在其他模块定义
extern bool MoveHandEndEffectorWithAux(double x, double y, double z, const std::string& aux_data = "");
// 常量定义默认位置
constexpr double DEFAULT_X = 0.0;
constexpr double DEFAULT_Y = 0.0;
constexpr double DEFAULT_Z = 0.0;
// 命令解析函数
void handleArmCommand(const std::string& input) {
std::istringstream iss(input);
std::string command;
iss >> command; // 提取主命令
if (command == "tp") {
// 执行 tp 命令：移动到默认位置 (0,0,0)
if (MoveHandEndEffectorWithAux(DEFAULT_X, DEFAULT_Y, DEFAULT_Z)) {
std::cout << "Arm moved to default position (0,0,0)." << std::endl;
} else {
std::cerr << "Error: Failed to move arm to default position." << std::endl;
}
} else if (command == "move") {
// 解析 move 命令参数：move x y z [aux_data]
double x, y, z;
std::string aux_data;
if (iss >> x >> y >> z) {
// 可选解析辅助参数
if (iss.peek() != EOF) {
std::getline(iss >> std::ws, aux_data); // 读取剩余内容作为 aux_data
}
if (MoveHandEndEffectorWithAux(x, y, z, aux_data)) {
std::cout << "Arm moved to position: (" << x << ", " << y << ", " << z << ")" << std::endl;
} else {
std::cerr << "Error: Failed to execute move command." << std::endl;
}
} else {
std::cerr << "Invalid arguments. Usage: move <x> <y> <z> [aux_data]" << std::endl;
}
} else {
std::cerr << "Unknown command. Supported: 'tp', 'move x y z'." << std::endl;
}
}
void HandRock(booster::robot::b1::B1LocoClient &client) {
// Example: open hand (rock gesture)
client.WaveHand(booster::robot::b1::HandAction::kHandOpen);
}
void HandScissor(booster::robot::b1::B1LocoClient &client) {
// Example: close hand (scissor gesture)
client.WaveHand(booster::robot::b1::HandAction::kHandClose);
}
void HandPaper(booster::robot::b1::B1LocoClient &client) {
// Example: handshake open (paper gesture)
client.Handshake(booster::robot::b1::HandAction::kHandOpen);
}
void ControlArmOnly(booster::robot::b1::B1LocoClient &client) {
int32_t res = 0;
// ===== 手臂控制参数区 =====（小白修改这里）
// 位置参数 (xyz坐标，单位：米)
booster::robot::Position high_position(0.15, 0.15, 0.2); // 举高位置
booster::robot::Position low_position(0.0, 0.0, 0.0); // 放低位置
// 方向参数 (欧拉角)
booster::robot::Orientation high_orientation(0.0, 1.0, 0.0); // 举高朝向
booster::robot::Orientation low_orientation(0.0, 0.0, 0.0); // 放低朝向
// 时间参数 (单位：毫秒)
int move_duration = 1500; // 手臂移动时间 ↓↓调小值加速运动
int hold_duration = 6000; // 姿势保持时间
// 力矩参数 (示例接口，具体实现需查SDK) ↓↓调大值增加力量
float force_level = 15.0f; // 牛顿·米
std::cout << "=== 启动手臂控制程序 ===" << std::endl;
// 启用末端控制模式
std::cout << "启用手臂精细控制..." << std::endl;
res = client.SwitchHandEndEffectorControlMode(true);
if (res != 0) {
std::cout << "控制模式启用失败: error = " << res << std::endl;
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// ===== 右手控制段 =====
std::cout << ">> 右手上举动作..." << std::endl;
booster::robot::Posture right_hand_up;
right_hand_up.position_ = high_position; // 修改位置坐标
right_hand_up.orientation_ = high_orientation; // 修改方向角度
// 设置末端力矩 (接口示例)
// client.SetHandForce(booster::robot::b1::HandIndex::kRightHand, force_level); // 此接口不存在，已注释
res = client.MoveHandEndEffector(
right_hand_up,
move_duration, // 修改运动速度（时间越短越快）
booster::robot::b1::HandIndex::kRightHand
);
if (res != 0) std::cout << "上举失败: " << res << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(hold_duration)); // 保持姿势
// ===== 左手控制段 =====
std::cout << ">> 左手上举动作..." << std::endl;
booster::robot::Posture left_hand_up;
left_hand_up.position_ = booster::robot::Position(
high_position.x_,
-high_position.y_, // y坐标取反（镜像到左侧）
high_position.z_
);
left_hand_up.orientation_ = high_orientation;
// client.SetHandForce(booster::robot::b1::HandIndex::kLeftHand, force_level); // 此接口不存在，已注释
res = client.MoveHandEndEffector(
left_hand_up,
move_duration,
booster::robot::b1::HandIndex::kLeftHand
);
if (res != 0) std::cout << "上举失败: " << res << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(hold_duration));
// 复位手臂
std::cout << ">> 手臂复位..." << std::endl;
booster::robot::Posture tar_posture;
tar_posture.position_ = low_position;
tar_posture.orientation_ = low_orientation;
res = client.MoveHandEndEffectorV2(tar_posture, 3000, booster::robot::b1::HandIndex::kRightHand);
// 关闭控制模式
client.SwitchHandEndEffectorControlMode(false);
std::cout << "=== 手臂控制完成 ===" << std::endl;
}
int main(int argc, char const *argv[]) {
if (argc < 2) {
std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl;
exit(-1);
}
booster::robot::ChannelFactory::Instance()->Init(0, argv[1]);
booster::robot::b1::B1LocoClient client;
client.Init();
float x, y, z, yaw, pitch;
int32_t res = 0;
std::string input;
int32_t hand_action_count = 0;
while (true) {
bool need_print = false;
std::getline(std::cin, input);
if (!input.empty()) {
if (input == "mp") {
res = client.ChangeMode(booster::robot::RobotMode::kPrepare);
} else if (input == "md") {
res = client.ChangeMode(booster::robot::RobotMode::kDamping);
} else if (input == "mw") {
res = client.ChangeMode(booster::robot::RobotMode::kWalking);
} else if (input == "mc") {
res = client.ChangeMode(booster::robot::RobotMode::kCustom);
} else if (input == "w") {
x = 1.0;
y = 0.0;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "ww") {
x = 3.0;
y = 0.0;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "l") {
x = 0.0;
y = 0.0;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "a") {
x = 0.0;
y = 0.5;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "aa") {
x = 0.0;
y = 1.5;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
}
else if (input == "s") {
x = -1.0;
y = 0.0;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "ss") {
x = -2.5;
y = 0.0;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
}
if (input == "d") {
x = 0.0;
y = -0.5;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "dd") {
x == 0.0;
y = -1.5;
z = 0.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "q") {
x = 0.0;
y = 0.0;
z = 1.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "e") {
x = 0.0;
y = 0.0;
z = -1.0;
need_print = true;
res = client.Move(x, y, z);
} else if (input == "hd") {
yaw = 0.0;
pitch = 1.0;
need_print = true;
res = client.RotateHead(pitch, yaw);
} else if (input == "hu") {
yaw = 0.0;
pitch = -0.3;
need_print = true;
res = client.RotateHead(pitch, yaw);
} else if (input == "hr") {
yaw = -0.785;
pitch = 0.0;
need_print = true;
res = client.RotateHead(pitch, yaw);
} else if (input == "hl") {
yaw = 0.785;
pitch = 0.0;
need_print = true;
res = client.RotateHead(pitch, yaw);
} else if (input == "ho") {
yaw = 0.0;
pitch = 0.0;
need_print = true;
res = client.RotateHead(pitch, yaw);
} else if (input == "wh") {
res = client.WaveHand(booster::robot::b1::HandAction::kHandOpen);
} else if (input == "ch") {
res = client.WaveHand(booster::robot::b1::HandAction::kHandClose);
} else if (input =="hso") {
res = client.Handshake(booster::robot::b1::HandAction::kHandOpen);
} else if (input =="hsc") {
res = client.Handshake(booster::robot::b1::HandAction::kHandClose);
}
else if (input == "ld") {
res = client.LieDown();
} else if (input == "gu") {
res = client.GetUp();
} else if (input == "mhel") {
booster::robot::Posture tar_posture;
tar_posture.position_ = booster::robot::Position(0.35, 0.25, 0.1);
tar_posture.orientation_ = booster::robot::Orientation(-1.57, -1.57, 0.);
res = client.MoveHandEndEffectorV2(
tar_posture, 2000, booster::robot::b1::HandIndex::kLeftHand);
tar_posture.position_ = booster::robot::Position(0.35, -0.2, 0.1);
tar_posture.orientation_ = booster::robot::Orientation(1.57, -1.57, 0.);
res = client.MoveHandEndEffectorV2(
tar_posture, 2000, booster::robot::b1::HandIndex::kRightHand);
} else if (input == "gopenl") {
booster::robot::b1::GripperMotionParameter motion_param;
motion_param.position_ = 500;
motion_param.force_ = 100;
motion_param.speed_ = 100;
res = client.ControlGripper(
motion_param, booster::robot::b1::GripperControlMode::kPosition,
booster::robot::b1::HandIndex::kLeftHand);
} else if (input == "gft") {
booster::robot::Frame src = booster::robot::Frame::kBody;
booster::robot::Frame dst = booster::robot::Frame::kRightHand;
booster::robot::Transform transform;
res = client.GetFrameTransform(src, dst, transform);
if (res == 0) {
std::cout << "pos:" << transform.position_.x_ << " " << transform.position_.y_
<< " " << transform.position_.z_ << std::endl;
std::cout << "ori:" << transform.orientation_.x_ << " " << transform.orientation_.y_
<< " " << transform.orientation_.z_ << " "
<< transform.orientation_.w_ << std::endl;
}
} else if (input == "hcm-start") {
res = client.SwitchHandEndEffectorControlMode(true);
} else if (input == "hcm-stop") {
res = client.SwitchHandEndEffectorControlMode(false);
} else if (input == "hand-down") {
booster::robot::Posture tar_posture;
tar_posture.position_ = booster::robot::Position(0.28, -0.25, 0.05);
tar_posture.orientation_ = booster::robot::Orientation(0., 0., 0.);
res = client.MoveHandEndEffector(
tar_posture, 1000, booster::robot::b1::HandIndex::kRightHand);
std::this_thread::sleep_for(std::chrono::milliseconds(300));
hand_action_count++;
int random = rand() % 3;
if (random == 0) {
HandRock(client);
} else if (random == 1) {
HandScissor(client);
} else {
HandPaper(client);
}
} else if (input == "handl-down") {
booster::robot::Posture tar_posture;
tar_posture.position_ = booster::robot::Position(0.28, 0.25,0.05);
tar_posture.orientation_ = booster::robot::Orientation(0.,0.,0.);
res = client.MoveHandEndEffector(
tar_posture, 1000, booster::robot::b1::HandIndex::kLeftHand);
} else if (input == "hand-up") {
booster::robot::Posture tar_posture;
tar_posture.position_ = booster::robot::Position(0.25, -0.3, 0.25);
tar_posture.orientation_ = booster::robot::Orientation(0., -1.0, 0.);
res = client.MoveHandEndEffector(
tar_posture, 1000, booster::robot::b1::HandIndex::kRightHand);
std::this_thread::sleep_for(std::chrono::milliseconds(300));
HandPaper(client);
} else if (input == "handl-up") {
booster::robot::Posture tar_posture;
tar_posture.position_ = booster::robot::Position(0.25, 0.3, 0.25);
tar_posture.orientation_ = booster::robot::Orientation(0., -1.0, 0.);
res = client.MoveHandEndEffector(
tar_posture, 1000, booster::robot::b1::HandIndex::kLeftHand);
}
else if (input == "arm") {
ControlArmOnly(client);
}
if (need_print) {
std::cout << "Param: " << x << " " << y << " " << z << std::endl;
std::cout << "Head param: " << pitch << " " << yaw << std::endl;
}
if (res != 0) {
std::cout << "Request failed: error = " << res << std::endl;
}
if (input == "exit") break;
handleArmCommand(input); // 调用命令处理函数
}
}
return 0;
}
本文介绍了一个使用Boost库中的mp_transform_q功能进行元编程的C/C++示例。通过修改结构体成员值，展示了如何在类型转换过程中实现特定操作。程序通过编译和运行，验证了mp_transform_q的正确性和在元编程任务中的应用潜力。
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