双Cell

 #define YJTViewWidth [UIScreen mainScreen].bounds.size.width #define YJTViewHeight [UIScreen mainScreen].bounds.size.height
#define RGB(r, g, b) [UIColor colorWithRed:(r)/255.0 green:(g)/255.0 blue:(b)/255.0 alpha: 1.0]
#define MainRGB [UIColor colorWithRed:51/255.0 green:161/255.0 blue:201/255.0 alpha: 1.0]
#define YJTRatioW YJTViewWidth/375
#define YJTRatioH YJTViewHeight/667
#import "ViewController.h" #import "CollectionViewCell.h" #import "CollectionViewCell2.h"
@interface ViewController ()<UICollectionViewDelegate,UICollectionViewDataSource> {
UILabel *labelOne;
UILabel *labelTwo; }
@property(nonatomic,strong)UICollectionView *collection; @property(nonatomic,strong)NSArray *namearray;
@end
@implementation ViewController
- (void)viewDidLoad { [super viewDidLoad]; [self makeUI];
}
#pragma mark -------- 界⾯面 -(void)makeUI{
labelOne = [[UILabel alloc]initWithFrame:CGRectMake(10, 5, 100, 20)]; labelTwo = [[UILabel alloc]initWithFrame:CGRectMake(10, 5, 100, 20)];
UICollectionViewFlowLayout *layout =[[UICollectionViewFlowLayout alloc]init]; layout.sectionInset =UIEdgeInsetsMake(0, 0, 0, 0); layout.headerReferenceSize =CGSizeMake(YJTViewWidth, 50*YJTRatioH);
_collection =[[UICollectionView alloc]initWithFrame:CGRectMake(0, 20, YJTViewWidth, YJTViewHeight) collectionViewLayout:layout];
_collection.delegate =self;

 _collection.dataSource =self; _collection.backgroundColor =[UIColor whiteColor]; [self.view addSubview:_collection];
[_collection registerNib:[UINib nibWithNibName:@"CollectionViewCell" bundle:nil] forCellWithReuseIdentifier:@"CollectionViewCell"];
[_collection registerNib:[UINib nibWithNibName:@"CollectionViewCell2" bundle:nil] forCellWithReuseIdentifier:@"CollectionViewCell2"];
// 注册头视图
[_collection registerClass:[UICollectionReusableView class] forSupplementaryViewOfKind:UICollectionElementKindSectionHeader withReuseIdentifier:@"header"];
}
-(UICollectionViewCell*)collectionView:(UICollectionView *)collectionView cellForItemAtIndexPath:(NSIndexPath *)indexPath
{
if (indexPath.section ==0) { CollectionViewCell *cell =[collectionView
dequeueReusableCellWithReuseIdentifier:@"CollectionViewCell" forIndexPath:indexPath]; return cell;
}else{
CollectionViewCell2*cell =[collectionView dequeueReusableCellWithReuseIdentifier:@"CollectionViewCell2" forIndexPath:indexPath];
return cell; }
}
-(NSInteger)numberOfSectionsInCollectionView:(UICollectionView *)collectionView {
return 2; }
- (CGSize)collectionView:(UICollectionView *)collectionView layout:(UICollectionViewLayout *)collectionViewLayout sizeForItemAtIndexPath:(NSIndexPath *)indexPath
{
if (indexPath.section == 0) {
return CGSizeMake(50*YJTRatioW, 50*YJTRatioH); }else{
return CGSizeMake((YJTViewWidth - 40) / 2, 140*YJTRatioH);

 } }
- (CGSize)collectionView:(UICollectionView *)collectionView layout:(UICollectionViewLayout *)collectionViewLayout referenceSizeForHeaderInSection:(NSInteger)section {
return CGSizeMake(YJTViewWidth,30*YJTRatioH); }
- (UIEdgeInsets)collectionView:(UICollectionView *)collectionView layout: (UICollectionViewLayout *)collectionViewLayout insetForSectionAtIndex:(NSInteger)section {
if (section ==0) {
return UIEdgeInsetsMake(10, 20, 10, 20);
}else{
return UIEdgeInsetsMake(10, 12, 5, 12); }
}
- (NSInteger)collectionView:(UICollectionView *)collectionView numberOfItemsInSection: (NSInteger)section
{
if (section==0) {
return 4 ; }else{
return 6; }
}
- (UICollectionReusableView *)collectionView:(UICollectionView *)collectionView viewForSupplementaryElementOfKind:(NSString *)kind atIndexPath:(NSIndexPath *)indexPath{
#pragma mark ----- 重⽤用的问题 UICollectionReusableView *header = [collectionView
dequeueReusableSupplementaryViewOfKind:UICollectionElementKindSectionHeader withReuseIdentifier:@"header" forIndexPath:indexPath];
header.backgroundColor = RGB(236, 237, 241);
if (indexPath.section == 0) {
labelOne.text = @"热⻔门检查";
labelOne.font = [UIFont systemFontOfSize:14.0f]; labelOne.textColor =MainRGB;
[header addSubview:labelOne];
}else{

 labelTwo.text = @"疾病信息";
labelTwo.font = [UIFont systemFontOfSize:14.0f]; labelTwo.textColor = MainRGB;
[header addSubview:labelTwo];
}
return header; }

内容概要:本文介绍了一个基于冠豪猪优化算法(CPO)的无人机三维路径规划项目,利用Python实现了在复杂三维环境中为无人机规划安全、高效、低能耗飞行路径的完整解决方案。项目涵盖空间环境建模、无人机动力学约束、路径编码、多目标代价函数设计以及CPO算法的核心实现。通过体素网格建模、动态障碍物处理、路径平滑技术和多约束融合机制,系统能够在高维、密集障碍环境下快速搜索出满足飞行可行性、安全性与能效最优的路径,并支持在线重规划以适应动态环境变化。文中还提供了关键模块的代码示例,包括环境建模、路径评估和CPO优化流程。; 适合人群:具备一定Python编程基础和优化算法基础知识,从事无人机、智能机器人、路径规划或智能优化算法研究的相关科研人员与工程技术人员,尤其适合研究生及有一定工作经验的研发工程师。; 使用场景及目标:①应用于复杂三维环境下的无人机自主导航与避障;②研究智能优化算法(如CPO)在路径规划中的实际部署与性能优化;③实现多目标(路径最短、能耗最低、安全性最高)耦合条件下的工程化路径求解;④构建可扩展的智能无人系统决策框架。; 阅读建议:建议结合文中模型架构与代码示例进行实践运行,重点关注目标函数设计、CPO算法改进策略与约束处理机制,宜在仿真环境中测试不同场景以深入理解算法行为与系统鲁棒性。
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