the power of compile computation

#include <iostream>
#include <string>
#include <algorithm>
using namespace std;
template<int N>
class aTMP{
public:
    enum { 
        ret = N * aTMP<N-1>::ret 
    };
};
template<>
class aTMP<0>{
public:
    enum { 
        ret = 1 
    };
};
long fun(int n) {
    long s = 1;
    for (int i = 2;i <= n;i++) {
        s *= i;
    }
    return s;
}
int main() {
//  cout << aTMP<12>::ret << endl;
//  cout << fun(12) << endl;
    for (int i = 0;i < 1000000;i++) {
        //aTMP<12>::ret;      // 0.011~0.012s
        fun(12);              // 0.044s
    }
    return 0;
}

 

 

Requirements The code is tested on clean Ubuntu 20.04 with ROS noetic installation. Install the required package toppra: sudo pip3 install toppra catkin_pkg PyYAML empy matplotlib pyrfc3339 Run the code 1. Download and compile the code git clone https://github.com/ZJU-FAST-Lab/Primitive-Planner.git cd Primitive-Planner catkin_make -DCMAKE_BUILD_TYPE=Release 2. Generate the motion primitive library cd src/scripts python3 swarm_path.py The generated motion primitive library is stored in "src/planner/plan_manage/primitive_library/". 3. Run the planner In the "Primitive-Planner/" directory: source devel/setup.bash # or setup.zsh cd src/scripts python3 gen_position_swap.py 20 # It will generate the swarm.launch with 20 drones roslaunch primitive_planner swarm.launch Wait until all the nodes have their launch process finished and keep printing "[FSM]: state: WAIT_TARGET. Waiting for trigger". Open another terminal, publish the trigger cd src/scripts bash pub_trigger.sh Then the drones (drone number is 40) will start to fly like this Change the drone number when executing "python3 gen_position_swap.py <drone_number>". Before starting the "roslaunch" command, please open another terminal and run "htop" to monitor the Memory usage and CPU usage. Each drone requires about 200 MB memory. Keep the htop opened for entire flight. The computation time is printed on the terminal in blue text, named as "plan_time". To get the accurate computation time, please fix the CPU frequency to its maximum by sudo apt install cpufrequtils sudo cpufreq-set -g performance Otherwise the CPU will run in powersave mode with low frequency分析代码,生成复现过程
07-17
Requirements The code is tested on clean Ubuntu 20.04 with ROS noetic installation. Install the required package toppra: sudo pip3 install toppra catkin_pkg PyYAML empy matplotlib pyrfc3339 Run the code 1. Download and compile the code git clone https://github.com/ZJU-FAST-Lab/Primitive-Planner.git cd Primitive-Planner catkin_make -DCMAKE_BUILD_TYPE=Release 2. Generate the motion primitive library cd src/scripts python3 swarm_path.py The generated motion primitive library is stored in "src/planner/plan_manage/primitive_library/". 3. Run the planner In the "Primitive-Planner/" directory: source devel/setup.bash # or setup.zsh cd src/scripts python3 gen_position_swap.py 20 # It will generate the swarm.launch with 20 drones roslaunch primitive_planner swarm.launch Wait until all the nodes have their launch process finished and keep printing "[FSM]: state: WAIT_TARGET. Waiting for trigger". Open another terminal, publish the trigger cd src/scripts bash pub_trigger.sh Then the drones (drone number is 40) will start to fly like this Change the drone number when executing "python3 gen_position_swap.py <drone_number>". Before starting the "roslaunch" command, please open another terminal and run "htop" to monitor the Memory usage and CPU usage. Each drone requires about 200 MB memory. Keep the htop opened for entire flight. The computation time is printed on the terminal in blue text, named as "plan_time". To get the accurate computation time, please fix the CPU frequency to its maximum by sudo apt install cpufrequtils sudo cpufreq-set -g performance Otherwise the CPU will run in powersave mode with low frequency. 根据我要复现的代码安装TOPPRAv1.0.0+版本可以吗
07-12
Requirements The code is tested on clean Ubuntu 20.04 with ROS noetic installation. Install the required package toppra: sudo pip3 install toppra catkin_pkg PyYAML empy matplotlib pyrfc3339 Run the code 1. Download and compile the code git clone https://github.com/ZJU-FAST-Lab/Primitive-Planner.git cd Primitive-Planner catkin_make -DCMAKE_BUILD_TYPE=Release 2. Generate the motion primitive library cd src/scripts python3 swarm_path.py The generated motion primitive library is stored in "src/planner/plan_manage/primitive_library/". 3. Run the planner In the "Primitive-Planner/" directory: source devel/setup.bash # or setup.zsh cd src/scripts python3 gen_position_swap.py 20 # It will generate the swarm.launch with 20 drones roslaunch primitive_planner swarm.launch Wait until all the nodes have their launch process finished and keep printing "[FSM]: state: WAIT_TARGET. Waiting for trigger". Open another terminal, publish the trigger cd src/scripts bash pub_trigger.sh Then the drones (drone number is 40) will start to fly like this Change the drone number when executing "python3 gen_position_swap.py <drone_number>". Before starting the "roslaunch" command, please open another terminal and run "htop" to monitor the Memory usage and CPU usage. Each drone requires about 200 MB memory. Keep the htop opened for entire flight. The computation time is printed on the terminal in blue text, named as "plan_time". To get the accurate computation time, please fix the CPU frequency to its maximum by sudo apt install cpufrequtils sudo cpufreq-set -g performance Otherwise the CPU will run in powersave mode with low frequency根据代码prim_planner分析TOPPRA 哪个版本是最合适的最兼容ROS Noetic和python3用来复现prim_planner的
07-17
Requirements The code is tested on clean Ubuntu 20.04 with ROS noetic installation. Install the required package toppra: sudo pip3 install toppra catkin_pkg PyYAML empy matplotlib pyrfc3339 Run the code 1. Download and compile the code git clone https://github.com/ZJU-FAST-Lab/Primitive-Planner.git cd Primitive-Planner catkin_make -DCMAKE_BUILD_TYPE=Release 2. Generate the motion primitive library cd src/scripts python3 swarm_path.py The generated motion primitive library is stored in "src/planner/plan_manage/primitive_library/". 3. Run the planner In the "Primitive-Planner/" directory: source devel/setup.bash # or setup.zsh cd src/scripts python3 gen_position_swap.py 20 # It will generate the swarm.launch with 20 drones roslaunch primitive_planner swarm.launch Wait until all the nodes have their launch process finished and keep printing "[FSM]: state: WAIT_TARGET. Waiting for trigger". Open another terminal, publish the trigger cd src/scripts bash pub_trigger.sh Then the drones (drone number is 40) will start to fly like this Change the drone number when executing "python3 gen_position_swap.py <drone_number>". Before starting the "roslaunch" command, please open another terminal and run "htop" to monitor the Memory usage and CPU usage. Each drone requires about 200 MB memory. Keep the htop opened for entire flight. The computation time is printed on the terminal in blue text, named as "plan_time". To get the accurate computation time, please fix the CPU frequency to its maximum by sudo apt install cpufrequtils sudo cpufreq-set -g performance Otherwise the CPU will run in powersave mode with low frequency根据代码prim_planner分析TOPPRA 0.4.2版本与toppra v0.4.1哪个是最合适的最兼容ROS Noetic和python3用来复现prim_planner的
07-17
内容概要:文章基于4A架构(业务架构、应用架构、数据架构、技术架构),对SAP的成本中心和利润中心进行了详细对比分析。业务架构上,成本中心是成本控制的责任单元,负责成本归集与控制,而利润中心是利润创造的独立实体,负责收入、成本和利润的核算。应用架构方面,两者都依托于SAP的CO模块,但功能有所区分,如成本中心侧重于成本要素归集和预算管理,利润中心则关注内部交易核算和获利能力分析。数据架构中,成本中心与利润中心存在多对一的关系,交易数据通过成本归集、分摊和利润计算流程联动。技术架构依赖SAP S/4HANA的内存计算和ABAP技术,支持实时核算与跨系统集成。总结来看,成本中心和利润中心在4A架构下相互关联,共同为企业提供精细化管理和决策支持。 适合人群:从事企业财务管理、成本控制或利润核算的专业人员,以及对SAP系统有一定了解的企业信息化管理人员。 使用场景及目标:①帮助企业理解成本中心和利润中心在4A架构下的运作机制;②指导企业在实施SAP系统时合理配置成本中心和利润中心,优化业务流程;③提升企业对成本和利润的精细化管理水平,支持业务决策。 其他说明:文章不仅阐述了理论概念,还提供了具体的应用场景和技术实现方式,有助于读者全面理解并应用于实际工作中。
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