find my position

本文探讨了在有限时间内如何有效利用模糊集理论进行工作,并考虑对其进行创新性应用。作者计划专注于构建隶属度等级的方法,这可能足以完成硕士学位的研究要求。文中还提到了数学工具的应用,包括集合、关系和函数等概念。

after i know my job is modeling wiht human-syle. but, many project has been done. so, what i should do? in here, i found that, i make use of mathematics rather than research it. i will not do some extension of fuzzy set, and i know is very hard for limited time. therefore, my job is use it, but when we exert the fuzzy set, it should define the grade of membership. ok, right now, there are a few theory has been proposal, such as rough set, cloud theory and so on. maybe, i can have some innovation in this piont.

 

the point, with more detail is that: to find a way to construct the grade of membership. if i can do something at this level is enough for my master degree.

 

something about mathematics tools:

set <= relation <= function, and the detail is:

1. set: member, equivalence, cardinality, etc

2. relation: dimension

3. function: mapping

#include"utility.h" class ConversionPosion { public: ConversionPosion() { SubOdometry = nh.subscribe<nav_msgs::Odometry>("/integrated_to_init",5,&ConversionPosion::OdometryHandle,this);//接收来自TransformFusion的pubLaserOdometry2的LaserOdometry2 pubOdometry = nh.advertise<geometry_msgs::Pose2D>("/my_position",5);//发送到can_interaction_handle的positionSubscriber_ } void OdometryHandle(const nav_msgs::Odometry::ConstPtr &msg) { currentHeader = msg->header;//把header信息传递过来 double roll,pitch,yaw;//滚动角/俯仰角/偏航角 geometry_msgs::Quaternion geoQut = msg->pose.pose.orientation; tf::Matrix3x3(tf::Quaternion(geoQut.z, -geoQut.x, -geoQut.y, geoQut.w)).getRPY(roll,pitch,yaw); My_Position.theta = (yaw/PI)*180; My_Position.x = msg->pose.pose.position.x; My_Position.y = msg->pose.pose.position.y; pubOdometry.publish(My_Position);//计算 } // void OdometryHandle(const nav_msgs::Odometry::ConstPtr &msg) // { // geometry_msgs::PoseStamped thispose; // thispose.header.frame_id = msg->header.frame_id; // thispose.header.stamp = ros::Time::now(); // thispose.pose.position.x = msg->pose.pose.position.x; // thispose.pose.position.y = msg->pose.pose.position.y; // thispose.pose.position.z = msg->pose.pose.position.z; // thispose.pose.orientation = msg->pose.pose.orientation; // path.poses.push_back(thispose); // path.header.frame_id = msg->header.frame_id; // path.header.stamp = ros::Time::now(); // pubOdometry.publish(path); // } private: ros::NodeHandle nh; ros::Subscriber SubOdometry; ros::Publisher pubOdometry; std_msgs::Header currentHeader; geometry_msgs::Pose2D My_Position; nav_msgs::Path path; }; int main(int argc, char *argv[]) { ros::init(argc, argv, "lego_loam"); ConversionPosion Cp; ROS_INFO("\033[1;32m---->\033[0m ConversionPosion Started."); ros::spin(); return 0; }这部分的作用是什么
最新发布
08-03
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