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:本文围绕六自由度机械臂的人工神经网络(ANN)设计展开,重点研究了正向与逆向运动学求解、正向动力学控制以及基于拉格朗日-欧拉法推导逆向动力学方程,并通过Matlab代码实现相关算法。文章结合理论推导与仿真实践,利用人工神经网络对复杂的非线性关系进行建模与逼近,提升机械臂运动控制的精度与效率。同时涵盖了路径规划中的RRT算法与B样条优化方法,形成从运动学到动力学再到轨迹优化的完整技术链条。; 适合人群:具备一定机器人学、自动控制理论基础,熟悉Matlab编程,从事智能控制、机器人控制、运动学六自由度机械臂ANN人工神经网络设计:正向逆向运动学求解、正向动力学控制、拉格朗日-欧拉法推导逆向动力学方程(Matlab代码实现)建模等相关方向的研究生、科研人员及工程技术人员。; 使用场景及目标:①掌握机械臂正/逆运动学的数学建模与ANN求解方法;②理解拉格朗日-欧拉法在动力学建模中的应用;③实现基于神经网络的动力学补偿与高精度轨迹跟踪控制;④结合RRT与B样条完成平滑路径规划与优化。; 阅读建议:建议读者结合Matlab代码动手实践,先从运动学建模入手,逐步深入动力学分析与神经网络训练,注重理论推导与仿真实验的结合,以充分理解机械臂控制系统的设计流程与优化策略。
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