13.6.3

13.55

void push_back(string &&s) { data->push_back(std::move(s)); }

13.56

Foo Foo::sorted() const & {
    Foo ret(*this);
    return ret.sorted();
}

将会无限递归
因为ret是一个左值,ret.sorted() 调用的不是成员函数Foo Foo::sorted() &&,而是
Foo Foo::sorted() const &本身

13.57

Foo Foo::sorted() const & { return Foo(*this).sorted(); }

调用正确

13.58

#include <vector>
#include <iostream>
#include <algorithm>

using std::vector; using std::sort;

class Foo {
public:
    Foo sorted() &&;
    Foo sorted() const &;
private:
    vector<int> data;
};

Foo Foo::sorted() && {
    sort(data.begin(), data.end());
    std::cout << "&&" << std::endl; // debug
    return *this;
}

Foo Foo::sorted() const & {
//    Foo ret(*this);
//    sort(ret.data.begin(), ret.data.end());
//    return ret;

    std::cout << "const &" << std::endl; // debug

//    Foo ret(*this);
//    ret.sorted();     // Exercise 13.56
//    return ret;

    return Foo(*this).sorted(); // Exercise 13.57
}

int main()
{
    Foo().sorted(); // call "&&"
    Foo f;
    f.sorted(); // call "const &"
}

isaac sim配置ros2[58.287s] [ext: isaacsim.sensors.physx-2.2.4] startup 2025-07-03 15:41:07 [58,275ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module isaacsim.sensors.physx. Error: No module named &#39;torch&#39;. Traceback: Traceback (most recent call last): File "/home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module return importlib.import_module(name) File "/home/czt/isaacsim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 1050, in _gcd_import File "<frozen importlib._bootstrap>", line 1027, in _find_and_load File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 688, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 883, in exec_module File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed File "/home/czt/isaacsim/exts/isaacsim.sensors.physx/isaacsim/sensors/physx/__init__.py", line 10, in <module> from .scripts import * File "/home/czt/isaacsim/exts/isaacsim.sensors.physx/isaacsim/sensors/physx/scripts/__init__.py", line 13, in <module> from .rotating_lidar_physX import RotatingLidarPhysX File "/home/czt/isaacsim/exts/isaacsim.sensors.physx/isaacsim/sensors/physx/scripts/rotating_lidar_physX.py", line 15, in <module> from isaacsim.core.api.sensors.base_sensor import BaseSensor File "/home/czt/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/__init__.py", line 11, in <module> from isaacsim.core.api.physics_context.physics_context import PhysicsContext File "/home/czt/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/physics_context/__init__.py", line 9, in <module> from isaacsim.core.api.physics_context.physics_context import PhysicsContext File "/home/czt/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/physics_context/physics_context.py", line 13, in <module> from isaacsim.core.simulation_manager import SimulationManager File "/home/czt/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/__init__.py", line 1, in <module> from .impl.extension import Extension File "/home/czt/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/__init__.py", line 1, in <module> from .extension import * File "/home/czt/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/extension.py", line 7, in <module> from .simulation_manager import SimulationManager File "/home/czt/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/simulation_manager.py", line 6, in <module> import isaacsim.core.utils.torch as torch_utils File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/__init__.py", line 9, in <module> from .maths import * File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/maths.py", line 13, in <module> import torch ModuleNotFoundError: No module named &#39;torch&#39; 2025-07-03 15:41:07 [58,276ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: &#39;isaacsim.sensors.physx&#39; in &#39;/home/czt/isaacsim/exts/isaacsim.sensors.physx&#39; failed to load. At: /home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup /home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension PythonExtension.cpp::startup()(2): <module> /home/czt/isaacsim/extscache/omni.kit.window.extensions-1.4.25+d02c707b/omni/kit/window/extensions/ext_commands.py(33): do /home/czt/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py(81): execute /home/czt/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/commands/command.py(463): execute /home/czt/isaacsim/extscache/omni.kit.window.extensions-1.4.25+d02c707b/omni/kit/window/extensions/common.py(509): toggle_self /home/czt/isaacsim/kit/python/lib/python3.10/asyncio/events.py(80): _run /home/czt/isaacsim/kit/python/lib/python3.10/asyncio/base_events.py(1909): _run_once /home/czt/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py(197): run_once /home/czt/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py(263): <lambda> 2025-07-03 15:41:07 [58,276ms] [Error] [omni.ext.plugin] [ext: isaacsim.sensors.physx-2.2.4] Failed to startup python extension. [58.902s] [ext: isaacsim.sensors.rtx-13.6.3] startup 2025-07-03 15:41:08 [58,888ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module isaacsim.sensors.rtx. Error: No module named &#39;torch&#39;. Traceback: Traceback (most recent call last): File "/home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module return importlib.import_module(name) File "/home/czt/isaacsim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 1050, in _gcd_import File "<frozen importlib._bootstrap>", line 1027, in _find_and_load File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 688, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 883, in exec_module File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed File "/home/czt/isaacsim/exts/isaacsim.sensors.rtx/isaacsim/sensors/rtx/__init__.py", line 10, in <module> from .scripts import * File "/home/czt/isaacsim/exts/isaacsim.sensors.rtx/isaacsim/sensors/rtx/scripts/__init__.py", line 10, in <module> from .commands import * File "/home/czt/isaacsim/exts/isaacsim.sensors.rtx/isaacsim/sensors/rtx/scripts/commands.py", line 17, in <module> from isaacsim.core.utils.prims import delete_prim File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/prims.py", line 25, in <module> from isaacsim.core.utils.types import SDF_type_to_Gf File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/types.py", line 12, in <module> import torch ModuleNotFoundError: No module named &#39;torch&#39; 2025-07-03 15:41:08 [58,888ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: &#39;isaacsim.sensors.rtx&#39; in &#39;/home/czt/isaacsim/exts/isaacsim.sensors.rtx&#39; failed to load. At: /home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup /home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension PythonExtension.cpp::startup()(2): <module> /home/czt/isaacsim/extscache/omni.kit.window.extensions-1.4.25+d02c707b/omni/kit/window/extensions/ext_commands.py(33): do /home/czt/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py(81): execute /home/czt/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/commands/command.py(463): execute /home/czt/isaacsim/extscache/omni.kit.window.extensions-1.4.25+d02c707b/omni/kit/window/extensions/common.py(509): toggle_self /home/czt/isaacsim/kit/python/lib/python3.10/asyncio/events.py(80): _run /home/czt/isaacsim/kit/python/lib/python3.10/asyncio/base_events.py(1909): _run_once /home/czt/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py(197): run_once /home/czt/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py(263): <lambda> 2025-07-03 15:41:08 [58,888ms] [Error] [omni.ext.plugin] [ext: isaacsim.sensors.rtx-13.6.3] Failed to startup python extension. [59.517s] [ext: isaacsim.ros2.bridge-4.1.15] startup 2025-07-03 15:41:08 [59,500ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module isaacsim.ros2.bridge. Error: No module named &#39;torch&#39;. Traceback: Traceback (most recent call last): File "/home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module return importlib.import_module(name) File "/home/czt/isaacsim/kit/python/lib/python3.10/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 1050, in _gcd_import File "<frozen importlib._bootstrap>", line 1027, in _find_and_load File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 688, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 883, in exec_module File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed File "/home/czt/isaacsim/exts/isaacsim.ros2.bridge/isaacsim/ros2/bridge/__init__.py", line 10, in <module> from .scripts.camera_info_utils import * File "/home/czt/isaacsim/exts/isaacsim.ros2.bridge/isaacsim/ros2/bridge/scripts/camera_info_utils.py", line 17, in <module> from isaacsim.core.utils.render_product import get_camera_prim_path, get_resolution File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/render_product.py", line 13, in <module> from isaacsim.core.utils.prims import set_prim_hide_in_stage_window, set_prim_no_delete File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/prims.py", line 25, in <module> from isaacsim.core.utils.types import SDF_type_to_Gf File "/home/czt/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/types.py", line 12, in <module> import torch ModuleNotFoundError: No module named &#39;torch&#39; 2025-07-03 15:41:08 [59,500ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: &#39;isaacsim.ros2.bridge&#39; in &#39;/home/czt/isaacsim/exts/isaacsim.ros2.bridge&#39; failed to load. At: /home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(213): startup /home/czt/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension PythonExtension.cpp::startup()(2): <module> /home/czt/isaacsim/extscache/omni.kit.window.extensions-1.4.25+d02c707b/omni/kit/window/extensions/ext_commands.py(33): do /home/czt/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/undo/undo.py(81): execute /home/czt/isaacsim/extscache/omni.kit.commands-1.4.9+d02c707b.lx64.r.cp310/omni/kit/commands/command.py(463): execute /home/czt/isaacsim/extscache/omni.kit.window.extensions-1.4.25+d02c707b/omni/kit/window/extensions/common.py(509): toggle_self /home/czt/isaacsim/kit/python/lib/python3.10/asyncio/events.py(80): _run /home/czt/isaacsim/kit/python/lib/python3.10/asyncio/base_events.py(1909): _run_once /home/czt/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py(197): run_once /home/czt/isaacsim/kit/extscore/omni.kit.async_engine/omni/kit/async_engine/async_engine.py(263): <lambda> 2025-07-03 15:41:08 [59,500ms] [Error] [omni.ext.plugin] [ext: isaacsim.ros2.bridge-4.1.15] Failed to startup python extension. 2025-07-03 15:41:09 [60,116ms] [Error] [omni.graph.core._impl.extension] Extension isaacsim.ros2.bridge-4.1.15 failed to register Python nodes - &#39;isaacsim.ros2.bridge&#39; [60.287s] [ext: isaacsim.ros2.bridge-4.1.15] shutdown [60.288s] [ext: isaacsim.sensors.camera-0.2.9] shutdown [60.289s] [ext: isaacsim.sensors.physics-0.3.5] shutdown [60.290s] [ext: isaacsim.sensors.rtx-13.6.3] shutdown [60.291s] [ext: isaacsim.core.nodes-2.1.4] shutdown [60.292s] [ext: isaacsim.sensors.physx-2.2.4] shutdown [60.293s] [ext: isaacsim.core.api-4.2.16] shutdown [60.295s] [ext: isaacsim.core.prims-0.3.7] shutdown [60.295s] [ext: isaacsim.core.simulation_manager-0.3.3] shutdown
07-04
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