try: defaults = __import__("config", globals(), locals(), ['config']).config except: defaults = None

This code snippet attempts to import a module named "config" and load a variable named "config" from it. If the import is successful, it assigns the loaded variable to a variable named "defaults". If the import fails, it assigns the value "None" to "defaults".

相关问题

给下列程序添加注释： void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { if (setup_ && config.restore_defaults) { config = default_config_; config.restore_defaults = false; } if ( ! setup_) { default_config_ = config; setup_ = true; } // update generic local planner params base_local_planner::LocalPlannerLimits limits; limits.max_vel_trans = config.max_vel_trans; limits.min_vel_trans = config.min_vel_trans; limits.max_vel_x = config.max_vel_x; limits.min_vel_x = config.min_vel_x; limits.max_vel_y = config.max_vel_y; limits.min_vel_y = config.min_vel_y; limits.max_vel_theta = config.max_vel_theta; limits.min_vel_theta = config.min_vel_theta; limits.acc_lim_x = config.acc_lim_x; limits.acc_lim_y = config.acc_lim_y; limits.acc_lim_theta = config.acc_lim_theta; limits.acc_lim_trans = config.acc_lim_trans; limits.xy_goal_tolerance = config.xy_goal_tolerance; limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_vel; planner_util_.reconfigureCB(limits, config.restore_defaults); // update dwa specific configuration dp_->reconfigure(config); }

/**
* @brief Callback function for dynamic reconfiguration of DWA planner parameters
*
* @param config Reference to the configuration object that stores the updated parameters
* @param level The level of reconfiguration, unused in this function
*/
void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) {

// If the setup has been completed and restore_defaults flag is set, restore default configuration
if (setup_ && config.restore_defaults) {
config = default_config_;
config.restore_defaults = false;
}

// If setup has not been completed, store default configuration and set the setup flag to true
if ( ! setup_) {
default_config_ = config;
setup_ = true;
}

// Update generic local planner parameters
base_local_planner::LocalPlannerLimits limits;
limits.max_vel_trans = config.max_vel_trans;
limits.min_vel_trans = config.min_vel_trans;
limits.max_vel_x = config.max_vel_x;
limits.min_vel_x = config.min_vel_x;
limits.max_vel_y = config.max_vel_y;
limits.min_vel_y = config.min_vel_y;
limits.max_vel_theta = config.max_vel_theta;
limits.min_vel_theta = config.min_vel_theta;
limits.acc_lim_x = config.acc_lim_x;
limits.acc_lim_y = config.acc_lim_y;
limits.acc_lim_theta = config.acc_lim_theta;
limits.acc_lim_trans = config.acc_lim_trans;
limits.xy_goal_tolerance = config.xy_goal_tolerance;
limits.yaw_goal_tolerance = config.yaw_goal_tolerance;
limits.prune_plan = config.prune_plan;
limits.trans_stopped_vel = config.trans_stopped_vel;
limits.theta_stopped_vel = config.theta_stopped_vel;

// Call reconfigureCB function of the planner_util_ object with updated limits and restore_defaults flag
planner_util_.reconfigureCB(limits, config.restore_defaults);

// Call reconfigure function of the dp_ object with updated configuration
dp_->reconfigure(config);
}

def __init__(self, **kwargs): self.__dict__.update(self._defaults) for name, value in kwargs.items(): setattr(self, name, value) self.class_names, self.num_classes = get_classes(self.classes_path) self.generate() show_config(**self._defaults)

这段代码是Classification类的构造函数，使用__init__方法进行定义。该方法接受任意数量的关键字参数，并将它们保存到self.__dict__变量中。具体实现过程如下：

1. `self.__dict__.update(self._defaults)`：将默认参数_defaults更新到实例的字典__dict__中。

2. `for name, value in kwargs.items():`：遍历关键字参数kwargs中的所有项。

3. `setattr(self, name, value)`：将关键字参数的名称作为属性名，将其值保存为对应属性的值，并将其保存到实例的属性中。

4. `self.class_names, self.num_classes = get_classes(self.classes_path)`：调用get_classes函数，从类别文件中读取类别名称和类别总数，并将它们保存到实例的属性中。

5. `self.generate()`：调用generate方法，生成分类模型。

6. `show_config(**self._defaults)`：打印模型的配置信息。