UVA 216 - Getting in Line

深入解析ROS 2 Control:从硬件抽象到实时控制的机器人框架实践 本文深入解析了ROS 2 Control机器人控制框架,阐述了其如何通过硬件抽象、控制器管理和实时性保障,解决机器人开发中硬件与软件紧耦合的痛点。文章详细剖析了其三层核心架构与数据流,并通过C++/Python代码示例演示了硬件接口的实现,最后提供了URDF配置、启动文件编写指南以及动态控制器管理、实时优化等高级应用与实战避坑技巧。 阅读详情

Getting in Line 

Computer networking requires that the computers in the network be linked.

This problem considers a ``linear" network in which the computers are chained together so that each is connected to exactly two others except for the two computers on the ends of the chain which are connected to only one other computer. A picture is shown below. Here the computers are the black dots and their locations in the network are identified by planar coordinates (relative to a coordinate system not shown in the picture).

Distances between linked computers in the network are shown in feet.

For various reasons it is desirable to minimize the length of cable used.

Your problem is to determine how the computers should be connected into such a chain to minimize the total amount of cable needed. In the installation being constructed, the cabling will run beneath the floor, so the amount of cable used to join 2 adjacent computers on the network will be equal to the distance between the computers plus 16 additional feet of cable to connect from the floor to the computers and provide some slack for ease of installation.

The picture below shows the optimal way of connecting the computers shown above, and the total length of cable required for this configuration is (4+16)+ (5+16) + (5.83+16) + (11.18+16) = 90.01 feet.

Input

The input file will consist of a series of data sets. Each data set will begin with a line consisting of a single number indicating the number of computers in a network. Each network has at least 2 and at most 8 computers. A value of 0 for the number of computers indicates the end of input.

After the initial line in a data set specifying the number of computers in a network, each additional line in the data set will give the coordinates of a computer in the network. These coordinates will be integers in the range 0 to 150. No two computers are at identical locations and each computer will be listed once.

Output

The output for each network should include a line which tells the number of the network (as determined by its position in the input data), and one line for each length of cable to be cut to connect each adjacent pair of computers in the network. The final line should be a sentence indicating the total amount of cable used.

In listing the lengths of cable to be cut, traverse the network from one end to the other. (It makes no difference at which end you start.) Use a format similar to the one shown in the sample output, with a line of asterisks separating output for different networks and with distances in feet printed to 2 decimal places.

Sample Input

6
5 19
55 28
38 101
28 62
111 84
43 116
5
11 27
84 99
142 81
88 30
95 38
3
132 73
49 86
72 111
0

Sample Output

**********************************************************
Network #1
Cable requirement to connect (5,19) to (55,28) is 66.80 feet.
Cable requirement to connect (55,28) to (28,62) is 59.42 feet.
Cable requirement to connect (28,62) to (38,101) is 56.26 feet.
Cable requirement to connect (38,101) to (43,116) is 31.81 feet.
Cable requirement to connect (43,116) to (111,84) is 91.15 feet.
Number of feet of cable required is 305.45.
**********************************************************
Network #2
Cable requirement to connect (11,27) to (88,30) is 93.06 feet.
Cable requirement to connect (88,30) to (95,38) is 26.63 feet.
Cable requirement to connect (95,38) to (84,99) is 77.98 feet.
Cable requirement to connect (84,99) to (142,81) is 76.73 feet.
Number of feet of cable required is 274.40.
**********************************************************
Network #3
Cable requirement to connect (132,73) to (72,111) is 87.02 feet.
Cable requirement to connect (72,111) to (49,86) is 49.97 feet.
Number of feet of cable required is 136.99.

===================================

利用next_permutation()枚举所有排列方式,分别计算距离,找到最小的,标记,输出


#include <iostream>
#include <cstdio>
#include <cmath>
#include <algorithm>

using namespace std;

double dis[11][11];

struct point
{
    int x;
    int y;
    double dis;
}s[11],a[11];

int main()
{
    int t=0,n,num[11];
    double sum,min;
    while(~scanf("%d",&n))
    {
        if(n==0) break;
        min=1e9;
        printf("**********************************************************\n");
        printf("Network #%d\n",++t);
        for(int i=0;i<n;i++)
        {
            scanf("%d%d",&s[i].x,&s[i].y);
            num[i]=i;
        }
        do
        {
            sum=0;
            for(int i=1;i<n;i++)
            {
                sum+=sqrt( (s[num[i]].x-s[num[i-1]].x) * (s[num[i]].x-s[num[i-1]].x)*1.0 + (s[num[i]].y-s[num[i-1]].y) * (s[num[i]].y-s[num[i-1]].y)*1.0 )+16;
            }
            if(sum<min)
            {
                for(int i=0;i<n;i++)
                {
                    a[i]=s[num[i]];
                }
                min=sum;
            }
        }while(next_permutation(num,num+n));
        for(int i=1;i<n;i++)
        {
            printf("Cable requirement to connect (%d,%d) to (%d,%d) is %.2lf feet.\n",a[i-1].x,a[i-1].y,a[i].x,a[i].y,
                   sqrt( (a[num[i]].x-a[num[i-1]].x) * (a[num[i]].x-a[num[i-1]].x)*1.0 + (a[num[i]].y-a[num[i-1]].y) * (a[num[i]].y-a[num[i-1]].y)*1.0 )+16);
        }
        printf("Number of feet of cable required is %.2lf.\n",min);
    }
    return 0;
}


OpenStack [ compute_id ] 设计上的小缺陷 而 nova 代码中硬编码(或默认配置)将 compute_id 放在 site-packages 目录,属于 设计上的小缺陷—— 把 “库安装目录” 和 “运行时数据目录” 混在一起了,才导致需要临时调整这个目录的权限。# 配置项说明:node_identity_file 是 nova 用于指定节点标识文件路径的官方配置项,优先级高于代码中的默认路径。自定义 compute_id 路径,指向 /var/lib/nova/ 目录下的 compute_id 文件; 阅读详情

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