ItemSelectionWidget3D::~ItemSelectionWidget3D() { if (m_Node != 0) { CANDERA_DELETE_ARRAY(m_Node); m_Node = 0; } } CGI_WIDGET_RTTI_DEFINITION(ItemSelectionWidget3D)
时间: 2024-04-21 12:24:54 浏览: 15
这段代码是 ItemSelectionWidget3D 类的析构函数。在析构函数中,首先检查 m_Node 是否为非空指针。如果是非空指针,则使用 CANDERA_DELETE_ARRAY 宏来释放 m_Node 指针指向的数组内存,并将 m_Node 置为 0。
CGI_WIDGET_RTTI_DEFINITION 定义了 ItemSelectionWidget3D 类的运行时类型信息(RTTI)。这个宏通常用于实现类的类型识别和类型转换等功能。
相关问题
这段代码是在做什么 if Dataset == -1: X, y = datasets.make_s_curve(3000, random_state=0, noise=0.07) X = np.delete(X, 1, axis=1) # X/=2 X[:, -1] += 1 X[-1, :] -= 1 X3, y = datasets.make_circles(n_samples=(2000, 0), factor=.6, noise=.13) X3 /= 2 X2, y = datasets.make_blobs(n_samples=400, n_features=2, centers=[ [-0.1, 0]], cluster_std=[.05], random_state=2) #X3, y = datasets.make_blobs(n_samples=400, n_features=2, centers=[[0,0]], cluster_std=[[.1]], random_state=10) # #X2, y3=datasets.make_blobs(n_samples=500, centers=2, random_state=0) X = np.concatenate((X, X2, X3)) N = len(X)# number of node # # t=np.zeros(N) X = np.insert(X, 2, np.zeros(N), axis=1) # f = open('x.txt', 'w+') # for i in X: f.write('{0}\t{1}\t{2}\N'.format(i[0],i[1],i[2])) # f.close() else: f =fileNames[Dataset] with open(f, 'r') as file: X = [[float(number) for number in line.strip().rstrip('\t').split('\t')] for line in file.readlines()] X = np.array(X) X[:,2].fill(0)
这段代码是用于生成或者读取数据集的。如果 `Dataset` 的值为 `-1`,那么代码就会生成三个数据集:
- `datasets.make_s_curve(3000, random_state=0, noise=0.07)`:生成一个 S 形曲线的数据集,包含 3000 个样本,随机种子为 0,噪声为 0.07。
- `datasets.make_circles(n_samples=(2000, 0), factor=.6, noise=.13)`:生成一个圆环形的数据集,包含 2000 个样本,其中内圆环和外圆环的比例为 1:1,噪声为 0.13。
- `datasets.make_blobs(n_samples=400, n_features=2, centers=[[-0.1, 0]], cluster_std=[.05], random_state=2)`:生成一个高斯分布的数据集,包含 400 个样本,其中心点为 `[-0.1, 0]`,标准差为 0.05。
然后将这三个数据集拼接在一起,生成一个三维的数据集,并将每个样本的第三个维度填充为 0。
如果 `Dataset` 的值不为 `-1`,那么代码就会读取文件名为 `fileNames[Dataset]` 的文件,并将其解析为一个二维的数据集,然后将每个样本的第三个维度填充为 0。
write a C++ example shows how to do force or torque control in offboard mode from a ROS 2 node with XRCE-DDS
Here's an example of how to do force control in offboard mode using C++ and XRCE-DDS:
```cpp
#include <iostream>
#include <chrono>
#include <thread>
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/wrench_stamped.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"
#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
#include "rosidl_typesupport_cpp/message_type_support.hpp"
#include "rmw_fastrtps_cpp/get_participant.hpp"
#include "rmw_fastrtps_cpp/get_publisher.hpp"
#include "rmw_fastrtps_cpp/get_subscriber.hpp"
#include "rmw_uros/options.h"
#include "uxr/client/client.h"
#include "sensor_msgs/msg/joint_state.hpp"
using namespace std::chrono_literals;
#define DEFAULT_TIMEOUT 1000
void set_wrench(float fx, float fy, float fz, float tx, float ty, float tz, geometry_msgs::msg::WrenchStamped& wrench)
{
wrench.wrench.force.x = fx;
wrench.wrench.force.y = fy;
wrench.wrench.force.z = fz;
wrench.wrench.torque.x = tx;
wrench.wrench.torque.y = ty;
wrench.wrench.torque.z = tz;
}
class ForceControlNode : public rclcpp::Node
{
public:
ForceControlNode() : Node("force_control_node")
{
joint_state_sub_ = this->create_subscription<sensor_msgs::msg::JointState>("joint_states", 10,
std::bind(&ForceControlNode::joint_state_callback, this, std::placeholders::_1));
wrench_pub_ = this->create_publisher<geometry_msgs::msg::WrenchStamped>("wrench", 10);
setup_dds();
}
private:
void setup_dds()
{
auto domain_id = 0;
uxr_set_custom_transport(uxr::Transport::CUSTOM);
rmw_uros_options_t custom_transport_options = rmw_get_zero_initialized_uros_options();
uxr_init_custom_transport(&custom_transport_options, uxr_common_tcp_platform);
const char* participant_name = "force_control_participant";
const char* topic_name = "force_control_topic";
// Create participant
uxr_init_options_t init_options = uxr_init_options_create();
uxr_set_custom_transport_callbacks(
&init_options,
uxr_common_tcp_platform,
custom_transport_open_cb,
custom_transport_close_cb,
custom_transport_write_cb,
custom_transport_read_cb,
reinterpret_cast<void*>(this));
participant_ = rmw_fastrtps_cpp::get_participant(
this->get_node_base_interface(),
this->get_node_topics_interface(),
domain_id,
participant_name,
"", // empty node namespace
std::vector<std::string>());
// Register ROS message type with XRCE-DDS
const rosidl_message_type_support_t* type_support =
rosidl_typesupport_cpp::get_message_type_support_handle<geometry_msgs::msg::WrenchStamped>();
uxr_register_topic_xml(
&session_,
participant_->impl_->participant,
topic_name,
type_support->typesupport_identifier,
"<dds>"
"<topic>"
"<name>force_control_topic</name>"
"<dataType>geometry_msgs::msg::WrenchStamped_</dataType>"
"</topic>"
"</dds>");
// Create publisher
publisher_ = rmw_fastrtps_cpp::get_publisher(
this->get_node_base_interface(),
this->get_node_topics_interface(),
participant_,
type_support,
topic_name,
"",
&rmw_qos_profile_default);
// Create subscriber
subscriber_ = rmw_fastrtps_cpp::get_subscriber(
this->get_node_base_interface(),
this->get_node_topics_interface(),
participant_,
type_support,
topic_name,
"",
&rmw_qos_profile_default,
false);
// Create session
uxr_init_session_xml(&init_options, &session_, participant_->impl_->participant, domain_id);
UXR_AGENT_LOG_INFO(
&session_.info,
UXR_CREATE_ENTITIES_FROM_REF_RESOURCE,
reinterpret_cast<uint64_t>(participant_->impl_->participant),
session_.last_requested_resource);
// Get publisher and subscriber handles
publisher_handle_ = static_cast<uxrObjectId>(publisher_->publisher_->id_);
subscriber_handle_ = static_cast<uxrObjectId>(subscriber_->subscriber_->id_);
}
void joint_state_callback(const sensor_msgs::msg::JointState::SharedPtr msg)
{
// Compute force and torque based on joint positions and publish to topic
float fx = 0.0;
float fy = 0.0;
float fz = 0.0;
float tx = 0.0;
float ty = 0.0;
float tz = 0.0;
// Compute desired force and torque values here, based on joint positions and other sensor data
geometry_msgs::msg::WrenchStamped wrench;
set_wrench(fx, fy, fz, tx, ty, tz, wrench);
wrench_pub_->publish(wrench);
// Send desired force and torque values to robot using XRCE-DDS
uint8_t buffer[1024];
uint32_t length = 0;
const uint16_t writer_id = 0x01;
const uint16_t reader_id = 0x02;
// Serialize message
ucdrBuffer ub;
ucdr_init_buffer(&ub, buffer, sizeof(buffer));
length = serialize_wrench(msg, &ub);
// Write message to DDS network
uxrStreamId output_stream = uxr_create_output_stream(&session_, UXR_RELIABLE_STREAM);
uxr_prepare_output_stream(&session_, output_stream, publisher_handle_, writer_id, buffer, length);
uxr_run_session_until_timeout(&session_, DEFAULT_TIMEOUT);
uxr_delete_output_stream(&session_, output_stream);
}
uint32_t serialize_wrench(const geometry_msgs::msg::WrenchStamped::SharedPtr msg, ucdrBuffer* ub)
{
uint32_t length = 0;
length += ucdr_serialize_uint32_t(ub, msg->header.stamp.sec);
length += ucdr_serialize_uint32_t(ub, msg->header.stamp.nanosec);
length += ucdr_serialize_float(ub, msg->wrench.force.x);
length += ucdr_serialize_float(ub, msg->wrench.force.y);
length += ucdr_serialize_float(ub, msg->wrench.force.z);
length += ucdr_serialize_float(ub, msg->wrench.torque.x);
length += ucdr_serialize_float(ub, msg->wrench.torque.y);
length += ucdr_serialize_float(ub, msg->wrench.torque.z);
return length;
}
static bool custom_transport_open_cb(void* args, const char* ip, uint16_t port)
{
return true;
}
static bool custom_transport_close_cb(void* args)
{
return true;
}
static size_t custom_transport_write_cb(
void* args,
const uint8_t* buf,
size_t len,
uint8_t* errcode)
{
auto* node = reinterpret_cast<ForceControlNode*>(args);
return node->write_cb(buf, len, errcode);
}
static size_t custom_transport_read_cb(void* args, uint8_t* buf, size_t len, int timeout, uint8_t* errcode)
{
auto* node = reinterpret_cast<ForceControlNode*>(args);
return node->read_cb(buf, len, timeout, errcode);
}
size_t write_cb(const uint8_t* buf, size_t len, uint8_t* errcode)
{
// Write data to ROS topic
geometry_msgs::msg::WrenchStamped wrench;
ucdrBuffer ub;
ucdr_init_buffer(&ub, const_cast<uint8_t*>(buf), len);
deserialize_wrench(&ub, wrench);
wrench_pub_->publish(wrench);
return len;
}
size_t read_cb(uint8_t* buf, size_t len, int timeout, uint8_t* errcode)
{
// Read data from ROS topic
geometry_msgs::msg::WrenchStamped wrench;
if (subscriber_->take(&wrench, nullptr, nullptr) == RMW_RET_OK) {
ucdrBuffer ub;
ucdr_init_buffer(&ub, buf, len);
serialize_wrench(wrench, &ub);
return ub.iterator - ub.init;
}
return 0;
}
void deserialize_wrench(ucdrBuffer* ub, geometry_msgs::msg::WrenchStamped& wrench)
{
wrench.header.stamp.sec = ucdr_deserialize_uint32_t(ub);
wrench.header.stamp.nanosec = ucdr_deserialize_uint32_t(ub);
wrench.wrench.force.x = ucdr_deserialize_float(ub);
wrench.wrench.force.y = ucdr_deserialize_float(ub);
wrench.wrench.force.z = ucdr_deserialize_float(ub);
wrench.wrench.torque.x = ucdr_deserialize_float(ub);
wrench.wrench.torque.y = ucdr_deserialize_float(ub);
wrench.wrench.torque.z = ucdr_deserialize_float(ub);
}
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;
rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr wrench_pub_;
rmw_fastrtps_cpp::Participant* participant_;
rmw_fastrtps_cpp::Publisher* publisher_;
rmw_fastrtps_cpp::Subscriber* subscriber_;
uxrSession session_;
uxrObjectId publisher_handle_;
uxrObjectId subscriber_handle_;
};
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<ForceControlNode>());
rclcpp::shutdown();
return 0;
}
```
This example subscribes to joint state data and computes the desired force and torque values based on the current joint positions. It then publishes these values to a ROS topic and sends them to the robot using XRCE-DDS. The robot can then use these values to apply the desired force and torque using a force/torque controller.