xruby 0.3.0 released

XRuby团队宣布发布0.3.0版本,该版本修复了许多bug并显著提高了代码质量。主要改进包括使用注解和代码生成来绑定Java级别方法到Ruby级别方法,更多单元测试通过,以及性能优化。

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I am pleased to announce that XRuby 0.3.0 is released:
http://code.google.com/p/xruby/downloads/list

We have fixed lots of bugs and made significant improvement in the code.

Changes from 0.2.1 to 0.3.0:
1. Use annotation and code generation to bind Java level method to Ruby level method (I will talk more about this later).

2. More unit tests passed. We have not eliminated all test failures in test/ruby. But as most of the failures are caused by the implementation of builtin libraries, we will be able to fixed them soon in 0.4.0.

Changes from 0.2.0 to 0.2.1:
1) Dreamhead optimized method/block calls for methods with zero/one
arguments. It makes our performance even better.

2) ZhangYu improved Java integration significantly, he also created a wiki page with lots of good examples:
http://code.google.com/p/xruby/wiki/JavaIntegration

3) Mechiland and I made more ruby unit tests pass.

The most significant change of 0.3.0 is the using of annotation and code generation to bind Java level method to ruby level method. The idea was inspired by the discussions about Java 5 on jruby's maillist, and dreamhead turned it into reality quickly.

As we know, a Ruby method does a little bit more than a Java method. So if we have a method like this in Java:
public class RubyString {
public RubyFloat to_f() {
...
}
}
To turn it (RubyString.to_f) into a Ruby level method, we have to add a few more code to 'wrap' into a class (extends RubyMethod) and 'register' it (defineMethod), e.g:
public class String_to_f extends RubyNoArgMethod {
protected RubyValue run(RubyValue receiver, RubyBlock block) {
return ((RubyString)receiver).to_f();
}
}
...
RubyRuntime.StringClass.defineMethod("to_f", new String_to_f());
For every method, we need to write similar code and it is not fun to repeat yourself. In 0.3.0, we no longer have to do this anymore. As as long as you add annotation like this:
@RubyLevelClass(name="String")
public class RubyString {
@RubyLevelMethod(name="to_f")
public RubyFloat to_f() {
...
}
}
XRuby will turn it into a Ruby level method automatically (using ASM to generate Java bytecode).

I have not used Java 5's annotation feature before, but this looks like an very elegant solution.

Thank everyone who has contributed to this release.
内容概要:本文档详细介绍了基于MATLAB实现的无人机三维路径规划项目,核心算法采用蒙特卡罗树搜索(MCTS)。项目旨在解决无人机在复杂三维环境中自主路径规划的问题,通过MCTS的随机模拟与渐进式搜索机制,实现高效、智能化的路径规划。项目不仅考虑静态环境建模,还集成了障碍物检测与避障机制,确保无人机飞行的安全性和效率。文档涵盖了从环境准备、数据处理、算法设计与实现、模型训练与预测、性能评估到GUI界面设计的完整流程,并提供了详细的代码示例。此外,项目采用模块化设计,支持多无人机协同路径规划、动态环境实时路径重规划等未来改进方向。 适合人群:具备一定编程基础,特别是熟悉MATLAB和无人机技术的研发人员;从事无人机路径规划、智能导航系统开发的工程师;对MCTS算法感兴趣的算法研究人员。 使用场景及目标:①理解MCTS算法在三维路径规划中的应用;②掌握基于MATLAB的无人机路径规划项目开发全流程;③学习如何通过MCTS算法优化无人机在复杂环境中的飞行路径,提高飞行安全性和效率;④为后续多无人机协同规划、动态环境实时调整等高级应用打下基础。 其他说明:项目不仅提供了详细的理论解释和技术实现,还特别关注了实际应用中的挑战和解决方案。例如,通过多阶段优化与迭代增强机制提升路径质量,结合环境建模与障碍物感知保障路径安全,利用GPU加速推理提升计算效率等。此外,项目还强调了代码模块化与调试便利性,便于后续功能扩展和性能优化。项目未来改进方向包括引入深度强化学习辅助路径规划、扩展至多无人机协同路径规划、增强动态环境实时路径重规划能力等,展示了广阔的应用前景和发展潜力。
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