442 - Matrix Chain Multiplication***

//题目刚做是思路出现了问题,栈中元素只需要row 和column 即可。
//字典可以包含一个char,但更好的做法是将char型转换成下标
//新函数append()
#include <iostream>
#include <string>
#include <cstdio>
#include <stack>
using namespace std;
struct Type
{
	int row;
	int column;
	Type():row(0),column(0){}
	Type(int a,int b):row(a),column(b){}
};
bool operator!=(const Type &a,const Type &b)//要定义成const型,否则编译出错
{
	return (a.column!=b.column || a.row!=b.row);//这里曾经出错,!=
}
int main()
{
	//freopen("data.in","r",stdin);
	//freopen("data.out","w",stdout);
	Type p[30];
	int n;
	cin>>n;
	for(int i=0;i<n;i++)
	{
		char ch;
		int a,b;
		cin>>ch>>a>>b;
		p[ch-'A'].row=a;
		p[ch-'A'].column=b;
	}
	string line;
	while(cin>>line)
	{		
		int num=0;
		stack<Type> s;
		line.insert(0,"(");//这里插入元素为字符串型
		line.append(")");
		int flag=1;
		for(int i=0;i<line.size() && flag==1;i++)
		{
			if(line[i]=='(')
			{
				s.push(Type(-1,0));
			}
			else if(line[i]==')')
			{
				Type t1,t2;
				if(!s.empty() && s.top()!=Type(-1,0))
				{
					t2=s.top();
					s.pop();
				}
				while(!s.empty() && s.top()!=Type(-1,0))
				{
					t1=s.top();
					if(t1.column!=t2.row)
					{
						printf("error\n");
						flag=0;
						break;
					}
					else
					{
						s.pop();
						num+=t1.row*t1.column*t2.column;
						t2.row=t1.row;
					}
				}
				s.pop();
				s.push(t2);
			}
			else 
			{
				s.push(p[line[i]-'A']);
			}
		}
		if(flag==1)
			printf("%d\n",num);
	}
	return 0;
}


同步定位与地图构建(SLAM)技术为移动机器人或自主载具在未知空间中的导航提供了核心支撑。借助该技术,机器人能够在探索过程中实时构建环境地图并确定自身位置。典型的SLAM流程涵盖传感器数据采集、数据处理、状态估计及地图生成等环节,其核心挑战在于有效处理定位与环境建模中的各类不确定性。 Matlab作为工程计算与数据可视化领域广泛应用的数学软件,具备丰富的内置函数与专用工具箱,尤其适用于算法开发与仿真验证。在SLAM研究方面,Matlab可用于模拟传感器输出、实现定位建图算法,并进行系统性能评估。其仿真环境能显著降低实验成本,加速算法开发与验证周期。 本次“SLAM-基于Matlab的同步定位与建图仿真实践项目”通过Matlab平台完整再现了SLAM的关键流程,包括数据采集、滤波估计、特征提取、数据关联与地图更新等核心模块。该项目不仅呈现了SLAM技术的实际应用场景,更为机器人导航与自主移动领域的研究人员提供了系统的实践参考。 项目涉及的核心技术要点主要包括:传感器模型(如激光雷达与视觉传感器)的建立与应用、特征匹配与数据关联方法、滤波器设计(如扩展卡尔曼滤波与粒子滤波)、图优化框架(如GTSAM与Ceres Solver)以及路径规划与避障策略。通过项目实践,参与者可深入掌握SLAM算法的实现原理,并提升相关算法的设计与调试能力。 该项目同时注重理论向工程实践的转化,为机器人技术领域的学习者提供了宝贵的实操经验。Matlab仿真环境将复杂的技术问题可视化与可操作化,显著降低了学习门槛,提升了学习效率与质量。 实践过程中,学习者将直面SLAM技术在实际应用中遇到的典型问题,包括传感器误差补偿、动态环境下的建图定位挑战以及计算资源优化等。这些问题的解决对推动SLAM技术的产业化应用具有重要价值。 SLAM技术在工业自动化、服务机器人、自动驾驶及无人机等领域的应用前景广阔。掌握该项技术不仅有助于提升个人专业能力,也为相关行业的技术发展提供了重要支撑。随着技术进步与应用场景的持续拓展,SLAM技术的重要性将日益凸显。 本实践项目作为综合性学习资源,为机器人技术领域的专业人员提供了深入研习SLAM技术的实践平台。通过Matlab这一高效工具,参与者能够直观理解SLAM的实现过程,掌握关键算法,并将理论知识系统应用于实际工程问题的解决之中。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
import cvxpy as cp import numpy as np import pandas as pd data = pd.read_excel('附件1.xlsx') X = data.iloc[1:, 1:2] Y = data.iloc[1:, 2:3] W = data.iloc[2:, 3:4] # 收集点垃圾量(i=1..n) xi = X.values.flatten() # 转换为一维数组 (n,) yi = Y.values.flatten() # 转换为一维数组 (n,) wi = W.values.flatten() # 转换为一维数组 (n,) # 定义参数 n = 30 # 收集点数量(i=1..n,0为处理厂) K = 30 # 车辆总数 Q = 5 # 最大载重 # 计算距离矩阵dij(i,j=0..n) dij = np.zeros((n+1, n+1)) for i in range(n+1): for j in range(n+1): dij[i, j] = np.sqrt((xi[i] - xi[j])**2 + (yi[i] - yi[j])**2) x = cp.Variable((n+1, n+1, K), boolean=True) # x_ijv: 车辆v从i到j y = cp.Variable((n, K), boolean=True) # y_iv: 车辆v服务收集点i(i=1..n,索引0..n-1) z = cp.Variable(K, boolean=True) # z_v: 使用车辆v u = cp.Variable((n+1, K), nonneg=True) # u_iv: 车辆v访问i后的累计载重(i=0..n,u[0,v]=0) objective = cp.Minimize(cp.sum(cp.sum(cp.sum(dij @ x, axis=2), axis=1), axis=0)) # 约束条件 constraints = [] # 1. 每个收集点被 exactly 一辆车服务(i=1..n,对应y的索引0..n-1) for i in range(n): constraints.append(cp.sum(y[i, :]) == 1) # 2. 流量守恒(i=1..n,处理厂i=0的约束在6中) for i in range(1, n+1): # 收集点i(1..n,y索引i-1) for v in range(K): constraints.append(cp.sum(x[i, :, v]) == y[i-1, v]) # 离开i的次数等于服务i的次数 constraints.append(cp.sum(x[:, i, v]) == y[i-1, v]) # 进入i的次数等于服务i的次数 # 3. 载重约束 for v in range(K): constraints.append(cp.sum(wi * y[:, v]) <= Q * z[v]) # 4. MTZ约束(子回路消除) for v in range(K): constraints.append(u[0, v] == 0) # 处理厂出发时载重为0 for i in range(1, n+1): # 收集点i(1..n,wi[i-1]) constraints.append(u[i, v] >= wi[i-1]) # 载重下限 constraints.append(u[i, v] <= Q) # 载重上限 for j in range(1, n+1): if i != j: constraints.append(u[i, v] - u[j, v] + Q * x[i, j, v] <= Q - wi[j-1]) # 5. 车辆使用约束:服务收集点则使用车辆 for i in range(n): for v in range(K): constraints.append(y[i, v] <= z[v]) # 6. 出发返回约束(处理厂i=0,出发到收集点1..n,返回从收集点1..n到0) for v in range(K): constraints.append(cp.sum(x[0, 1:, v]) == z[v]) # 出发次数等于车辆使用 constraints.append(cp.sum(x[1:, 0, v]) == z[v]) # 返回次数等于车辆使用 # 建立问题并求解 problem = cp.Problem(objective, constraints) problem.solve() # 输出结果(示例,需根据实际需求处理) print("最优目标值:", problem.value) print("使用的车辆:", z.value)D:\python\python.exe D:\35433\Documents\数模练习\电工杯\问题1.py D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 1 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 2 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 3 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 4 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 5 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 6 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 7 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 8 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 9 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 10 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 11 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 12 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 13 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 14 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 15 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 16 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 17 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 18 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 19 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 20 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 21 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 22 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 23 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 24 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 25 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 26 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 27 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 28 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 29 times so far. D:\python\Lib\site-packages\cvxpy\expressions\expression.py:674: UserWarning: This use of ``*`` has resulted in matrix multiplication. Using ``*`` for matrix multiplication has been deprecated since CVXPY 1.1. Use ``*`` for matrix-scalar and vector-scalar multiplication. Use ``@`` for matrix-matrix and matrix-vector multiplication. Use ``multiply`` for elementwise multiplication. This code path has been hit 30 times so far. D:\python\Lib\site-packages\cvxpy\reductions\solvers\solving_chain_utils.py:41: UserWarning: The problem has an expression with dimension greater than 2. Defaulting to the SCIPY backend for canonicalization.
05-25
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