ns3/vector.h
时间: 2023-10-01 19:12:21 浏览: 42
ns3/vector.h 是 ns-3 网络仿真器中的头文件之一,定义了 Vector 类型和 Vector3D 类型。这些类型被广泛用于 ns-3 中各种对象的位置、速度、加速度等数据的表示。Vector 类型表示在二维平面上的向量,包含 x 和 y 两个分量;Vector3D 类型则表示在三维空间中的向量,包含 x、y 和 z 三个分量。这些类型支持各种向量运算,如加减、点乘、叉乘等。在 ns-3 中,常常需要使用 Vector 和 Vector3D 来描述节点位置、速度、加速度等信息,因此这些类型是 ns-3 中非常重要的基础类型之一。
相关问题
ns3 aodv interface编写
To develop an AODV interface using ns3, you can follow the steps given below:
1. Create a new C++ file and include the necessary header files for ns3 and AODV. For example:
```c++
#include "ns3/aodv-module.h"
#include "ns3/core-module.h"
#include "ns3/network-module.h"
#include "ns3/mobility-module.h"
#include "ns3/internet-module.h"
```
2. Define the main function and create the ns3 simulation environment:
```c++
int main(int argc, char* argv[]) {
// Create the ns3 simulation environment
ns3::CommandLine cmd;
cmd.Parse(argc, argv);
ns3::NodeContainer nodes;
nodes.Create(2);
ns3::InternetStackHelper internet;
internet.Install(nodes);
ns3::AodvHelper aodv;
ns3::Ipv4ListRoutingHelper list;
list.Add(aodv, 100);
internet.SetRoutingHelper(list);
ns3::Ipv4AddressHelper address;
address.SetBase("10.1.1.0", "255.255.255.0");
ns3::NetDeviceContainer devices;
devices = internet.Install(ns3::NodeContainer.Get(0), ns3::NodeContainer.Get(1), address);
// Define the mobility model and move the nodes
// ...
// Define the applications and start the simulation
// ...
ns3::Simulator::Stop(ns3::Seconds(10.0));
ns3::Simulator::Run();
ns3::Simulator::Destroy();
return 0;
}
```
This code creates a simulation environment with two nodes, installs the AODV routing protocol on the nodes, and sets up an IP address for the network interface between the nodes.
3. Define the mobility model for the nodes and move them around the simulation environment. For example:
```c++
ns3::MobilityHelper mobility;
mobility.SetMobilityModel("ns3::ConstantPositionMobilityModel");
mobility.Install(nodes);
ns3::Ptr<ns3::ConstantPositionMobilityModel> pos0 = nodes.Get(0)->GetObject<ns3::ConstantPositionMobilityModel>();
ns3::Ptr<ns3::ConstantPositionMobilityModel> pos1 = nodes.Get(1)->GetObject<ns3::ConstantPositionMobilityModel>();
pos0->SetPosition(ns3::Vector(0.0, 0.0, 0.0));
pos1->SetPosition(ns3::Vector(100.0, 0.0, 0.0));
```
This code sets up a constant position mobility model for the nodes and moves them to the specified positions.
4. Define the applications that will be used to send data between the nodes. For example:
```c++
ns3::PacketSinkHelper sinkHelper("ns3::UdpSocketFactory", ns3::InetSocketAddress(ns3::Ipv4Address::GetAny(), 9));
ns3::ApplicationContainer sinkApps = sinkHelper.Install(nodes.Get(1));
sinkApps.Start(ns3::Seconds(0.0));
sinkApps.Stop(ns3::Seconds(10.0));
ns3::OnOffHelper onoff("ns3::UdpSocketFactory", ns3::InetSocketAddress(nodes.Get(1)->GetObject<ns3::Ipv4>()->GetAddress(1, 0).GetLocal(), 9));
onoff.SetAttribute("OnTime", ns3::StringValue("ns3::ConstantRandomVariable[Constant=1]"));
onoff.SetAttribute("OffTime", ns3::StringValue("ns3::ConstantRandomVariable[Constant=0]"));
onoff.SetAttribute("DataRate", ns3::StringValue("5Mbps"));
onoff.SetAttribute("PacketSize", ns3::UintegerValue(1500));
ns3::ApplicationContainer onoffApps = onoff.Install(nodes.Get(0));
onoffApps.Start(ns3::Seconds(1.0));
onoffApps.Stop(ns3::Seconds(10.0));
```
This code sets up a packet sink application on the second node to receive data, and an on-off application on the first node to send data to the second node.
5. Start the ns3 simulation and run it for a period of time:
```c++
ns3::Simulator::Stop(ns3::Seconds(10.0));
ns3::Simulator::Run();
ns3::Simulator::Destroy();
```
This code starts the simulation, runs it for 10 seconds, and then destroys it.
With these steps, you can develop an AODV interface using ns3 and simulate data transmission between nodes.
#include <ros/ros.h> #include "Utils/param.h" #include "control.hpp" #include <sstream> namespace ns_control { Param control_param_; Control::Control(ros::NodeHandle &nh) : nh_(nh) { controller_ = nh_.param<std::string>("controller", "pure_pursuit"); control_param_.getParams(nh_, controller_); if (controller_ == "pure_pursuit") { solver_ = &pure_pursuit_solver_; } else if (controller_ == "mpc") { solver_ = &mpc_solver_; } else { ROS_ERROR("Undefined Solver name !"); } } void Control::setCarState(const fsd_common_msgs::CarState &msgs) { car_state_ = msgs; } void Control::setTrack(const Trajectory &msgs) { refline_ = msgs; } fsd_common_msgs::ControlCommand Control::getCmd() { return cmd_; } visualization_msgs::MarkerArray Control::getPrePath() { return PrePath_; } bool Control::Check() { if (refline_.empty()) { ROS_DEBUG_STREAM("Successfully passing check"); return false; } return true; } void Control::runAlgorithm() { if (!Check()) { ROS_WARN_STREAM("Check Error"); return; } solver_->setState(VehicleState(car_state_, cmd_)); solver_->setTrajectory(refline_); solver_->solve(); cmd_ = solver_->getCmd(); std::vector<float> color_ref = {1, 0, 0}; std::vector<float> color_pre = {0, 1, 0}; std::vector<float> color_init = {0, 0, 1}; if (controller_ == "mpc") visual_trajectory(solver_->getTrajectory(), PrePath_, "/base_link", color_pre, car_state_.header, true); std::cout << "steering: " << cmd_.steering_angle.data << std::endl; std::cout << "throttle: " << cmd_.throttle.data << std::endl; }翻译这段代码
这是一个控制程序的C++代码。首先引入了ROS的头文件和一些其他的头文件,包括Param.h和control.hpp。然后定义了一个命名空间ns_control。
在命名空间ns_control中,定义了一个结构体Param和一个类Control。Param结构体用于存储控制参数,Control类用于执行控制算法。
在Control类中,首先初始化了一个控制器名称controller_,并根据控制器名称获取控制参数。如果控制器名称为"pure_pursuit",则使用纯追踪控制器;如果为"mpc",则使用模型预测控制器;否则输出错误信息。然后定义了一个车辆状态car_state_和一个参考轨迹refline_,并实现了一些函数,包括设置车辆状态、设置参考轨迹、获取控制指令、获取预瞄路径等。
在runAlgorithm函数中,首先检查参考轨迹是否为空,如果为空则输出警告信息并返回。然后设置控制器的状态和参考轨迹,求解控制指令,更新车辆状态等。如果控制器为模型预测控制器,则获取预瞄路径并进行可视化。最后输出控制指令的转向角和油门值。
总体来说,这段代码实现了一个控制器,可以根据车辆状态和参考轨迹计算出相应的控制指令。