JJJ:playback

Playback一般意思是音视频的回放,即重新播放之前录制或存储的内容

const std::vector<AudioStateMachine::Transition> AudioStateMachine::transitions_ = { // === 1. 初始化 / 去初始化 === Transition{ServiceState::DEINIT, StreamType::NONE, EventType::INIT, &AudioStateMachine::initAction, ServiceState::INIT_SUCCESS, StreamType::NONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::NONE, EventType::DEINIT, &AudioStateMachine::deinitAction, ServiceState::DEINIT, StreamType::NONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::LOOPBACK, EventType::DEINIT, &AudioStateMachine::deinitAction, ServiceState::DEINIT, StreamType::NONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::TONE, EventType::DEINIT, &AudioStateMachine::deinitAction, ServiceState::DEINIT, StreamType::NONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::DEINIT, &AudioStateMachine::deinitAction, ServiceState::DEINIT, StreamType::NONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::VOICE_CALL,EventType::DEINIT, &AudioStateMachine::deinitAction, ServiceState::DEINIT, StreamType::NONE}, Transition{ServiceState::INIT_FAILED, StreamType::NONE, EventType::DEINIT, &AudioStateMachine::deinitAction, ServiceState::DEINIT, StreamType::NONE}, // === 2. Loopback 操作 === Transition{ServiceState::INIT_SUCCESS, StreamType::NONE, EventType::START_LOOPBACK, &AudioStateMachine::startLoopbackAction, ServiceState::INIT_SUCCESS, StreamType::LOOPBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::LOOPBACK, EventType::STOP_LOOPBACK, &AudioStateMachine::stopLoopbackAction, ServiceState::INIT_SUCCESS, StreamType::NONE}, // === 3. Tone 操作 === Transition{ServiceState::INIT_SUCCESS, StreamType::NONE, EventType::START_TONE, &AudioStateMachine::startToneAction, ServiceState::INIT_SUCCESS, StreamType::TONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::TONE, EventType::START_TONE, &AudioStateMachine::startToneAction, ServiceState::INIT_SUCCESS, StreamType::TONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::TONE, EventType::STOP_TONE, &AudioStateMachine::stopToneAction, ServiceState::INIT_SUCCESS, StreamType::NONE}, // === 4. Playback 操作 === Transition{ServiceState::INIT_SUCCESS, StreamType::NONE, EventType::START_PLAYBACK, &AudioStateMachine::initPlaybackAction, ServiceState::INIT_SUCCESS, StreamType::PLAYBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::START_PLAYBACK, &AudioStateMachine::startPlaybackAction, ServiceState::INIT_SUCCESS, StreamType::PLAYBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::PAUSE_PLAYBACK, &AudioStateMachine::pausePlaybackAction, ServiceState::INIT_SUCCESS, StreamType::PLAYBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::RESUME_PLAYBACK, &AudioStateMachine::resumePlaybackAction,ServiceState::INIT_SUCCESS, StreamType::PLAYBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::STOP_PLAYBACK, &AudioStateMachine::stopPlaybackAction, ServiceState::INIT_SUCCESS, StreamType::PLAYBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::CLOSE_PLAYBACK, &AudioStateMachine::closePlaybackAction, ServiceState::INIT_SUCCESS, StreamType::NONE}, // === 5. Voice Call 操作 === Transition{ServiceState::INIT_SUCCESS, StreamType::NONE, EventType::START_VOICE_CALL, &AudioStateMachine::startVoiceCallAction, ServiceState::INIT_SUCCESS, StreamType::VOICE_CALL}, Transition{ServiceState::INIT_SUCCESS, StreamType::VOICE_CALL,EventType::STOP_VOICE_CALL, &AudioStateMachine::stopVoiceCallAction, ServiceState::INIT_SUCCESS, StreamType::NONE}, // === 6. 配置操作(SetConfig)=== Transition{ServiceState::INIT_SUCCESS, StreamType::NONE, EventType::SET_CONFIG, &AudioStateMachine::setConfigAction, ServiceState::INIT_SUCCESS, StreamType::NONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::LOOPBACK, EventType::SET_CONFIG, &AudioStateMachine::setConfigAction, ServiceState::INIT_SUCCESS, StreamType::LOOPBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::TONE, EventType::SET_CONFIG, &AudioStateMachine::setConfigAction, ServiceState::INIT_SUCCESS, StreamType::TONE}, Transition{ServiceState::INIT_SUCCESS, StreamType::PLAYBACK, EventType::SET_CONFIG, &AudioStateMachine::setConfigAction, ServiceState::INIT_SUCCESS, StreamType::PLAYBACK}, Transition{ServiceState::INIT_SUCCESS, StreamType::VOICE_CALL,EventType::SET_CONFIG, &AudioStateMachine::setConfigAction, ServiceState::INIT_SUCCESS, StreamType::VOICE_CALL} };
07-12
内容概要:本文围绕EKF SLAM(扩展卡尔曼滤波同步定位与地图构建)的性能展开多项对比实验研究,重点分析在稀疏与稠密landmark环境下、预测与更新步骤同时进行与非同时进行的情况下的系统性能差异,并进一步探讨EKF SLAM在有色噪声干扰下的鲁棒性表现。实验考虑了不确定性因素的影响,旨在评估不同条件下算法的定位精度与地图构建质量,为实际应用中EKF SLAM的优化提供依据。文档还提及多智能体系统在遭受DoS攻击下的弹性控制研究,但核心内容聚焦于SLAM算法的性能测试与分析。; 适合人群:具备一定机器人学、状态估计或自动驾驶基础知识的科研人员及工程技术人员,尤其是从事SLAM算法研究或应用开发的硕士、博士研究生和相关领域研发人员。; 使用场景及目标:①用于比较EKF SLAM在不同landmark密度下的性能表现;②分析预测与更新机制同步与否对滤波器稳定性与精度的影响;③评估系统在有色噪声等非理想观测条件下的适应能力,提升实际部署中的可靠性。; 阅读建议:建议结合MATLAB仿真代码进行实验复现,重点关注状态协方差传播、观测更新频率与噪声模型设置等关键环节,深入理解EKF SLAM在复杂环境下的行为特性。稀疏 landmark 与稠密 landmark 下 EKF SLAM 性能对比实验,预测更新同时进行与非同时进行对比 EKF SLAM 性能对比实验,EKF SLAM 在有色噪声下性能实验
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