IIOP 读书摘抄

读书摘抄 原文在http://www.omg.org/library/iiop4.html

ORB
CORBA specifies the Object Request Broker (ORB) that allows applications to communicate with one another no matter where they reside on a network.

IIOP is part of CORBA
A common misconception about IIOP is that it is a "separate" specification that developers need to write to in order to allow CORBA to work over the Internet. This is not so. A properly constructed CORBA 2.0 ORB already incorporates IIOP. IIOP is an underlying mechanism of CORBA technology which is transparently managed by ORBs. So IIOP and CORBA are, essentially, inseparable.
Therefore, programmers and users are never required to interact with IIOP in any way; it is invisible to them. IIOP allows their programs to interact transparently while executing, so one does not have to write "IIOP programs."

CDR (Common Data Representation),
The IIOP specification defines a set of data formatting rules, called CDR (Common Data Representation), which is tailored to the data types supported in the CORBA Interface Definition Language (IDL). Using the CDR data formatting rules, the IIOP specification also defines a set of message types that support all of the ORB semantics defined in the CORBA core specification (http://www.omg.org/technology/documents/corba_spec_catalog.htm).

GIOP = CDR + message formats
Together, the CDR formatting rules and the message formats constitute an abstract protocol called GIOP, which stands for General Inter-ORB Protocol.

IIOP = GIOP + TCP/IP
GIOP messages can be sent over virtually any data transport protocol, such as TCP/IP, Novell SPX, SNA protocols, etc. To ensure "out-of-the-box" interoperability between ORB products, the IIOP specification requires that ORBs send GIOP messages over TCP/IP connections because TCP/IP is the standard connection-oriented transport protocol for the Internet. To put it very simply, GIOP + TCP/IP = IIOP.

IOR (Interoperable Object Reference)
Objects publish their identities and locations in the form of object references. The CORBA 2.0 specification dictates a common format for object references exchanged over IIOP, called IOR (Interoperable Object Reference) format. An IOR contains one or more profiles. Each profile describes how a client can contact and send requests to the object using a particular protocol. All legal IORs must have at least one IIOP profile, thus ensuring that wherever that reference goes, any CORBA-compliant ORB will be able to locate the object and send requests to it. The IIOP profile contains the Internet address of the object's server and a key value used by the server to find the specific object described by the reference.

invoke process
When a client program built with ORB vendor B's product needs to talk to an object in a server built with ORB vendor A's product, the client program opens a TCP/IP connection to the server, and sends one or more IIOP request to the server. The ORB component linked into the server locates or activates the object specified in the request and invokes the appropriate method on the object. The fact that the object is not built with the same ORB product is invisible to the client.
【无人机】基于改进粒子群算法的无人机路径规划研究[和遗传算法、粒子群算法进行比较](Matlab代码实现)内容概要:本文围绕基于改进粒子群算法的无人机路径规划展开研究,重点探讨了在复杂环境中利用改进粒子群算法(PSO)实现无人机三维路径规划的方法,并将其与遗传算法(GA)、标准粒子群算法等传统优化算法进行对比分析。研究内容涵盖路径规划的多目标优化、避障策略、航路点约束以及算法收敛性和寻优能力的评估,所有实验均通过Matlab代码实现,提供了完整的仿真验证流程。文章还提到了多种智能优化算法在无人机路径规划中的应用比较,突出了改进PSO在收敛速度和全局寻优方面的优势。; 适合人群:具备一定Matlab编程基础和优化算法知识的研究生、科研人员及从事无人机路径规划、智能优化算法研究的相关技术人员。; 使用场景及目标:①用于无人机在复杂地形或动态环境下的三维路径规划仿真研究;②比较不同智能优化算法(如PSO、GA、蚁群算法、RRT等)在路径规划中的性能差异;③为多目标优化问题提供算法选型和改进思路。; 阅读建议:建议读者结合文中提供的Matlab代码进行实践操作,重点关注算法的参数设置、适应度函数设计及路径约束处理方式,同时可参考文中提到的多种算法对比思路,拓展到其他智能优化算法的研究与改进中。
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