def __next_step(self, x, y): if not self.judge_colory: self.__history += 0 else: self.__history += 1 self.color = 1 if self.__history % 2 == 0 else 2 if self.start_ai_game: if self.ai_color == self.color: row,col = self.ai_stage(self.ai_game()[0],self.ai_game()[1]) else: col = round((x-self.__margin*2)/self.__cell_width) row = round((y-self.__margin*2)/self.__cell_width) stage_row = (y-self.__margin)-(self.__cell_width*row+self.__margin) stage_col = (x-self.__margin)-(self.__cell_width*col+self.__margin) if stage_col < stage_row: self.direct= 1 else: self.direct= 0 else: col = round((x - self.__margin * 2) / self.__cell_width) row = round((y - self.__margin * 2) / self.__cell_width) stage_row = (y - self.__margin) - (self.__cell_width * row + self.__margin) stage_col = (x - self.__margin) - (self.__cell_width * col + self.__margin) if stage_col < stage_row: self.direct = 1 else: self.direct= 0 if self.valide(row, col, self.direct): if self.__history % 4 == 0 or (self.__history + 2) % 4 == 0: self.__game_board.drew_turn(2) else: self.__game_board.drew_turn(1) self.add_logic(row, col, self.color) self.__game_board.draw_chess(row, col, self.color, self.direct) if self.judge_owner(row, col, self.color, self.direct): self.__game_board.drew_turn(self.judge_next(self.color)) for i in self.judge_owner(row, col, self.color, self.direct): x,y=self.draw_owner(i) self.__game_board.drew_owner(self.color, y, x) else: self.__game_board.drew_turn(self.color) self.judge_color(row, col, self.color, self.direct) print(self.logic_board_state) if 0 not in self.logic_board_owner: self.__game_board.pop_win(self.judge_winner())

def judge_color(self,row, col, color, direct): if self.judge_owner(row, col, color, direct): self.judge_colory = False else: self.judge_colory = True def judge_next(self, color): if color == 1: return 2 else: return 1

这是两个方法的实现。...如果存在获胜方，将 self.judge_colory 设置为 False；否则将其设置为 True。 judge_next 方法用于获取下一个玩家的颜色。根据给定的颜色，如果是 1，则返回 2；如果是 2，则返回 1。

def init(self,cell_weith = 100 , n = 5, margin = 30): self.margin = margin self.cell_width = cell_weith self.__n = n self.logic_board_owner = [0]((self.n-1)(self.n-1)) self.logic_board_state = [[0](self.__n-1) for _ in range((self.n-1)(self.n-1))] #[上，下，左，右] self.__history = 0 self.direct = 0 self.turelly_history = 0 self.ai_color = 1 self.color = 1 self.human_color = self.color self.start_ai_game = True self.judge_colory = False self.game_board = None

这是一个类的初始化方法，用于设置游戏的一些...- direct、turelly_history、ai_color、color、human_color、start_ai_game、judge_colory、game_board：一些其他的游戏变量。这个方法没有返回值。

def start(self): self.logic_board_owner = [0]((self.n-1)(self.n-1)) self.logic_board_state = [[0](self.__n-1) for _ in range((self.n-1)(self.n-1))] #[上，下，左，右] self.__history = 0 self.direct= 0 self.turelly_history = 0 self.judge_colory = False self.game_board = None self.__game_board = Game_Board(self.__cell_width,self.n,self.margin) while True: for event in pygame.event.get(): if event.type == pygame.QUIT: sys.exit() elif event.type == locals.MOUSEBUTTONDOWN: if event.button == 1: x, y = event.pos[0], event.pos[1] self.__choose_button(x, y) pygame.display.update()

然后，它将logic_board_state初始化为一个二维列表，大小为(self.__n-1)行乘以((self.__n-1)*(self.__n-1))列，每个元素都是零。这个二维列表应该用于记录每个逻辑棋盘位置的状态，包括上、下、左、右四个方向...

def get_logic_pos(self,x,y): return (y-self.margin + self.cell_width//2)//self.cell_width, (x-self.margin + self.cell_width//2)//self.cell_width def judge_line(self,row,col,direct,chess_color): c = 1 for i in range(1,6): next_row, next_col = row + direct[0][0] * i, col + direct[0][1] * i if self.matrix[next_row][next_col] == chess_color: c +=1 else: break for i in range(1, 6): next_row, next_col = row + direct[1][0] * i, col + direct[1][1] * i if self.matrix[next_row][next_col] == chess_color: c +=1 else: break return c def judge(self,row,col,chess_color): for direct in [[(-1,0),(1,0)],[(0,-1),(0,1)],[(-1,1),(1,-1)],[(-1,-1),(1,1)]]: if self.judge_line(row,col,direct,chess_color) ==6: return chess_color if len(self.history) == self.n * self.n: return -1 return 0 def deal_with_judge(self, judge_result): if not judge_result: return if judge_result == 1: txt = 'Black Win' elif judge_result == 2: txt = 'White Win' elif judge_result == -1: txt = 'Draw Chess' self.gameboard.draw_box(txt) self.full_matrix(self.n) def put_chess(self,x,y): l = len(self.history) chess_color = (l+1) % 4 // 2+1 if chess_color == self.auto_color: row, col = self.AI.generate_next(self.history, 1 - len(self.history) % 2, chess_color) else: row,col = self.get_logic_pos(x,y) if self.matrix[row][col] == 0: self.history.append((row, col, chess_color)) self.matrix[row][col] = chess_color self.gameboard.drawchess(row, col, chess_color) self.gameboard.draw_now_chess(chess_color) self.deal_with_judge(self.judge(row,col,chess_color)) def full_matrix(self,n): for i in range(self.n): for j in range(self.n): self.matrix[i][j] = 1

4. deal_with_judge方法根据judge方法返回的结果进行处理。如果有胜负或平局，它将在游戏板上显示相应的文本框。 5. put_chess方法用于在指定位置放置棋子。它接受鼠标点击的屏幕坐标x和y，并根据当前该轮是玩家...

def __choose_button(self,x,y): ''' 根据用户控制执行游戏逻辑，重新开始游戏、退出游戏，或者在棋盘内落子 :param x:横坐标 :param y:纵坐标 :return: ''' left = self.__cell_width self.n+40 right = left+150 if left<x<right: if 420 < y < 470: # print('choose button\n') self.start() elif 500 < y < 550: pygame.quit() sys.exit() elif 0<x<self.cell_width (self.n-1)+self.margin*2: self.__next_step(x,y) pass def __next_step(self,x,y): ''' :param x:横坐标 :param y:纵坐标 :return: ''' color=0 if len(self.history) % 4==0 or (len(self.history)+1)%4==0 else 1 row=round((y-self.margin)/self.cell_width) col=round((x-self.margin)/self.cell_width) # print(f'row col:{row},{col}') if self.__pos_valid(row,col): self.history.append((row, col)) self.logic_board[row][col] = color + 1 self.__game_board.draw_chess(row, col,self.__logic_board[row][col]) result=self.judge(row,col) if result in (1,2,-1): self.game_board.pop_winner(result) self.save(result) # self.game_state=SixInRowGame.Stop pass def __pos_valid(self,row,col): return 0<=row<self.n and 0<=col<self.n and not self.__logic_board[row][col]

- 如果x在棋盘范围内，即0到(self.__cell_width * (self.__n-1) + self.__margin * 2)之间，调用self.__next_step(x, y)方法进行落子操作。在__next_step(self, x, y)方法中，根据当前落子的顺序确定玩家的...

elif (msg.data == 2):#执行前往卸货点的操作 print("Going to unloading port:", msg.data) #self.pub_color.publish(True) w = [pdX[self.step], pdY[self.step], pdth[self.step]] self.goto([w[0], w[1], w[2]]) print("-------------traffic detector---------------") active = True while (active):#等待交通灯为绿色，才能继续前进 if (self.judge == 1): active = False print("you can go") break if (self.judge == 0): active = True self.judge = 0 #self.pub_color.publish(False) self.flage = 1 self.step = self.step + 1 while self.step < 7: w = [pdX[self.step], pdY[self.step], pdth[self.step]] if(self.flage == 1): self.goto([w[0], w[1], w[2]]) if self.get_pos(w[0],w[1]): self.step += 1 self.flage = 1 else: self.flage = 0 self.flage = 1，小车如何判断交通灯颜色？

根据这段代码的逻辑，小车判断交通灯颜色的方式是通过self.judge变量来判断。在代码中，当执行到前往卸货点的操作时（msg.data == 2），首先打印"Going to unloading port"和msg.data的值。然后，小车会进入一个...

帮我优化一下这段python代码 import datetime class error: def init(self, log_path): pass self.log_path = log_path self.port = port self.end_time = end_time self.start_time = start_time def network_error(self, log_path: str, port: str, end_time: float, start_time: float = 0): with open(log_path, 'r') as f: for line in f.readlines(): log_time_str = line.split()[0] # 就看第一个是不是时间，如何是是时间戳的话看下要不要转 datetime_object = datetime.datetime.strptime( log_time_str, '%Y-%m-%d %H:%M:%S') log_time = datetime_object.timestamp() if start_time <= log_time <= end_time: if port in line: return True def no_finf_element(self, log_path: str, end_time: float, start_time: float = 0): with open(log_path, 'r') as f: for line in f.readlines(): log_time_str = line.split()[0] # 就看第一个是不是时间，如何是是时间戳的话看下要不要转 datetime_object = datetime.datetime.strptime( log_time_str, '%Y-%m-%d %H:%M:%S') log_time = datetime_object.timestamp() if start_time <= log_time <= end_time: if 'no such element' in line: return True def error_judge(self): if network_error(self.log_path, self.port, self.end_time, self.start_time) == True and no_finf_elemen(self.log_path, self.end_time, self.start_time) == True: pass # 不执行重跑 else: pass # 执行重跑

以下是对代码的优化建议： 1. class error 中的 __init__ 方法中有一个无用的 ... def error_judge(self): if self.network_error() and self.no_finf_element(): pass # 不执行重跑 else: pass # 执行重跑

def judge_owner(self,row,col,color,direct): c=[] if direct == 0: if 0 < row < self.__n-1: if 0 not in self.logic_board_state[row * 4 + col]: self.logic_board_owner[row * 4 + col] = color c.append(row * 4 + col) if 0 not in self.logic_board_state[row * 4 + col - 4]: self.logic_board_owner[row * 4 + col - 4] = color c.append(row * 4 + col - 4) elif row == 0: if 0 not in self.logic_board_state[col]: self.logic_board_owner[col] = color c.append(col) elif row == self.__n - 1: if 0 not in self.logic_board_state[row3+col]: self.logic_board_owner[row3+col] = color c.append(row3+col) if direct == 1: if 0 < col < (self.__n-1): if 0 not in self.logic_board_state[row4 + col]: self.logic_board_owner[row4 + col] = color c.append(row4 + col) if 0 not in self.logic_board_state[row4 + col - 1]: self.logic_board_owner[row4 + col - 1] = color c.append(row4 + col - 1) elif col == 0: if 0 not in self.logic_board_state[row4]: self.logic_board_owner[row4] = color c.append(row4) elif col == self.__n - 1: if 0 not in self.logic_board_state[4row + (col - 1)]: self.logic_board_owner[4row + (col - 1)] = color c.append(4*row + (col - 1)) return c

这段代码是一个类的方法，名为judge_owner。它接受四个参数：row、col、color和direct。它用于判断在给定的位置和方向上，是否有玩家获胜，并返回相应的索引。如果direct的值为0，表示方向为水平方向。在此情况下...

该代码如何使小车判断交通灯颜色，判断后又如何使小车做出相应反应？class navigation_demo: def init(self): # self.set_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=5) # nav 创建发布器用于发送目标位置 self.pub_goal = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=10) # 创建客户端，用于发送导航目标 self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) self.move_base.wait_for_server(rospy.Duration(60)) self.sub_socket = rospy.Subscriber('/socket', Int16, self.socket_cb) # traffic light self.sub_traffic = rospy.Subscriber('/traffic_light', Bool, self.traffic_light) # line check车道线检测信息 self.pub_line = rospy.Publisher('/detector_line',Bool,queue_size=10) # 交通灯信息 self.pub_color = rospy.Publisher('/detector_trafficlight',Bool,queue_size=10) self.pub_reached = rospy.Publisher('/reached',Bool,queue_size=10) self.sub_done = rospy.Subscriber('/done',Bool,self.done_cb) #add self.tf_listener = tf.TransformListener() # 等待map到base_link坐标系变换的建立 try: self.tf_listener.waitForTransform('map', 'base_link', rospy.Time(0), rospy.Duration(1.0)) except (tf.Exception, tf.ConnectivityException, tf.LookupException): pass print("tf point successful") #add 初始化 self.count = 0 self.judge = 0 self.start = 0 self.end = 0 self.traffic = False self.control = 0 self.step = 0 self.flage = 1 # self.done = False #add 交通灯状态 def traffic_light(self, color): self.traffic = color.data # self.traffic = True if (self.traffic == False): print ("traffic red") self.judge = 0 if (self.traffic == True): print ("traffic green") self.judge = 1 def get_pos(self,x1,y1): try: (trans, rot) = self.tf_listener.lookupTransform('map', 'base_link', rospy.Time(0)) except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): rospy.loginfo("tf Error") return None euler = transformations.euler_from_quaternion(rot) #print euler[2] / pi * 180 获取xy的坐标 x = trans[0] y = trans[1] # 计算当前位置与目标位置的距离 result = pow(abs(x-x1),2)+pow(abs(y-y1),2) result = sqrt(result) if (result <= 0.6):# 如果距离小于0.6，表示到达目标， return True #th = euler[2] / pi * 180 else: return False #return (x, y, th)

在 traffic_light() 方法中，根据收到的颜色信息（True 或 False），判断交通灯的状态（红灯或绿灯），并将判断结果保存在 self.judge 变量中。小车通过订阅 "/done" 话题来获取是否完成目标的信息。在 done_cb() ...

def judge_winner(self): b=0 r=0 for i in self.logic_board_owner: if i == 1: r+=1 if i == 2: b+=1 if r > b : return 1 elif b > r : return 2 else: return -1

这段代码是一个名为 judge_winner 的函数，用判断游戏的胜利者。函数首先初始化两个变量 b 和 r，分别表示蓝色方和红色方的计数。然后，通过遍历 self.logic_board_owner 列表，统计蓝色方和红色方的数量。 ...

def traffic_light(self, color): self.traffic = color.data # self.traffic = True if (self.traffic == False): print ("traffic red") self.judge = 0 if (self.traffic == True): print ("traffic green") self.judge = 1 def get_pos(self,x1,y1): try: (trans, rot) = self.tf_listener.lookupTransform('map', 'base_link', rospy.Time(0)) except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): rospy.loginfo("tf Error") return None euler = transformations.euler_from_quaternion(rot) #print euler[2] / pi * 180 获取xy的坐标 x = trans[0] y = trans[1] # 计算当前位置与目标位置的距离 result = pow(abs(x-x1),2)+pow(abs(y-y1),2) result = sqrt(result) if (result <= 0.6):# 如果距离小于0.6，表示到达目标， return True #th = euler[2] / pi * 180 else: return False #return (x, y, th)，什么意思？

如果交通灯状态为False，打印"traffic red"并将self.judge置为0；如果交通灯状态为True，打印"traffic green"并将self.judge置为1。 get_pos方法接收两个参数x1和y1，表示目标位置的坐标。首先，使用...

这段代码有什么问题：def get_value_fromVol(test_map,vol_temp,TMax_value): vol_index = test_map.iloc[0,1:-1].tolist() print(vol_temp,vol_index) if vol_temp>max(vol_index): final_value = 0 else: y_label = vol_temp tem_index = test_map.SOC[1:].to_list() flag = judge_tem(tem_index,TMax_value) if flag == 0: final_value = 0 else: x_label = flag temp_map = pd.DataFrame(test_map.iloc[1:,1:-1].values,columns=vol_index,index=tem_index) final_value = temp_map.loc[x_label,y_label] return final_value

if flag == 0: final_value = 0 else: x_label = flag temp_map = pd.DataFrame(test_map.iloc[1:, 1:-1].values, columns=vol_index, index=tem_temp) final_value = temp_map.loc[x_label, y_label] return...

if self.__pos_valid(row,col): # self.history.append((row, col)) # self.logic_board[row][col] = color + 1 # self.__game_board.draw_chess(row, col,self.__logic_board[row][col]) # result=self.__judge(row,col)

这段代码中的if语句判断了一个条件self.__pos_valid(row, col)是否为真。如果条件为真，则执行if语句块中的代码。根据代码中的注释，以下是if语句块中的操作： 1. 将当前的行和列作为一个元组(row, col)添加到self._...

解释这段代码def data_cleaning(path, output_path, num=48, threshold_p=1e8): for k in range(len(path)): if k == 0: data = pd.read_excel(path[k]) else: tmp = pd.read_excel(path[k]) data = pd.concat([data, tmp]) char = ['\\N'] data_judge = data.isin(['\\N']) data2 = data data2 = data2.replace(to_replace='\\N', value=0) data2['judge'] = data_judge.sum(axis=1) + ( num * ((data2.iloc[:, 12:] < 0).T.any()) + num * (data2.iloc[:, 12:] > threshold_p).T.any()) data2.drop(data2[(data2.judge >= num)].index, inplace=True) data2 = data2.reset_index(drop=True) data.to_excel(output_path + 'D:\输出2_0523.xlsx') return data2

这段代码的作用是将多个Excel文件合并成一个，清洗数据，去除缺失值，将其替换为0，判断每一行数据是否符合条件，如果符合条件则将其删除，最后将处理后的数据保存为一个Excel文件。具体来说，函数的输入包括文件...

double PurePursuitController::judge_lr(const TrajectoryPoint& start_point, const TrajectoryPoint& end_point, const TrajectoryPoint& j_point) { double is_prec = (start_point.path_point.y - end_point.path_point.y) * j_point.path_point.x + (end_point.path_point.x - start_point.path_point.x) * j_point.path_point.y + start_point.path_point.x * end_point.path_point.y - end_point.path_point.x * start_point.path_point.y; if (is_reverse) { is_prec = (end_point.path_point.y - start_point.path_point.y) * j_point.path_point.x + (start_point.path_point.x - end_point.path_point.x) * j_point.path_point.y + start_point.path_point.y * end_point.path_point.x - end_point.path_point.y * start_point.path_point.x; } double np = is_prec > 0.0 ? 1.0 : (-1.0); return np; }

这段代码是C++语言编写的。它是一个纯追踪控制器（Pure Pursuit Controller）中的一部分，用于判断当前车辆在轨迹上的位置相对于目标点的左侧还是右侧。该函数接受三个轨迹点作为输入参数，计算车辆当前位置相对于...

ACM算法练习题集：图形与广度优先搜索

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def judge_color(self,row, col, color, direct): if self.judge_owner(row, col, color, direct): self.judge_colory = False else: self.judge_colory = True def judge_next(self, color): if color == 1: return 2 else: return 1

def judge_winner(self): b=0 r=0 for i in self.logic_board_owner: if i == 1: r+=1 if i == 2: b+=1 if r > b : return 1 elif b > r : return 2 else: return -1

if self.__pos_valid(row,col): # self.__history.append((row, col)) # self.__logic_board[row][col] = color + 1 # self.__game_board.draw_chess(row, col,self.__logic_board[row][col]) # result=self.__judge(row,col)

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if self.__pos_valid(row,col): # self.history.append((row, col)) # self.logic_board[row][col] = color + 1 # self.__game_board.draw_chess(row, col,self.__logic_board[row][col]) # result=self.__judge(row,col)