Timer(const std::function<void()> &callback);
时间: 2023-12-25 12:41:39 浏览: 24
`Timer` 是一个函数或类的构造函数,接受一个 `std::function` 类型的参数 `callback`,用于指定定时器到期时要执行的回调函数。
`std::function` 是C++11中的一个通用函数封装器,可以用来存储、复制和调用任何可调用对象(函数、函数对象、成员函数指针等)。通过使用 `std::function`,可以将具体的回调函数作为参数传递给 `Timer` 构造函数。
以下是一个示例用法:
```cpp
#include <functional>
void myCallback() {
// 在定时器到期时执行的回调函数
// 这里可以写需要执行的代码
}
// 创建一个定时器,并指定回调函数为 myCallback
Timer myTimer(myCallback);
```
在上述示例中,`myCallback` 函数将在定时器到期时被调用执行。你可以根据自己的需要来定义回调函数,并将其传递给 `Timer` 构造函数。
相关问题
void MainWindow::moveAgvs_(){ Astar astar; std::vector<std::vector<Node*>> paths(agvs.size()); // 得到agv的路綫 for (int i = 0; i < agvs.size(); i++) { Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY()); Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY()); std::vector<Node*> path_to_start = astar.getPath(start_node, end_node); std::vector<Node*> path_to_end = astar.getPath(end_node, end_node1); // 去掉 end_node1 path_to_end.erase(path_to_end.begin()); std::vector<Node*> path; path.insert(path.end(), path_to_start.begin()+1 , path_to_start.end()); path.insert(path.end(), path_to_end.begin(), path_to_end.end()); paths[i] = path; //輸出agv的路綫 std::cout << "AGV " << i << " path: "; for (int j = 0; j < path.size(); j++) { std::cout << "(" << path[j]->x << ", " <<path[j]->y << ")"; if (j != path.size() - 1) { std::cout << " -> "; } } std::cout << std::endl; } // 模擬運動 timer =new QTimer(this); timer->start(500); connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);} void MainWindow::moveAgvs() { for (int i = 0; i < agvs.size(); i++) { if (! paths[i].empty()) { Node* next_node = paths[i][0]; float speed = agvs[i].getSpeed(); float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2)); float time = distance / speed * 1000; QTimer::singleShot(time, this, = { agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); std::cout << "A " << agvs[i].getid() << " next_node : " << next_node->x <<" , " << next_node->y << std::endl; std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() << std::endl; this->update(); if (next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY()) { //task_to_agv(i); } }); } } },paths未識別項怎麽修改
在您的代码中,函数moveAgvs_()中定义了一个名为paths的std::vector<std::vector<Node*>>类型的变量,存储了每个agv的路线信息,但是在moveAgvs()函数中未定义paths变量,导致编译错误。
解决方法:您可以将paths变量定义为MainWindow类的私有变量,在类定义中添加如下代码:
```c++
private:
std::vector<std::vector<Node*>> paths;
```
然后在moveAgvs_()函数中将paths赋值给私有变量即可,修改后的代码如下:
```c++
void MainWindow::moveAgvs_(){
Astar astar;
paths.resize(agvs.size()); // 得到agv的路线
for (int i = 0; i < agvs.size(); i++) {
Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY());
Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY());
std::vector<Node*> path_to_start = astar.getPath(start_node, end_node);
std::vector<Node*> path_to_end = astar.getPath(end_node, end_node1);
// 去掉 end_node1
path_to_end.erase(path_to_end.begin());
std::vector<Node*> path;
path.insert(path.end(), path_to_start.begin()+1 , path_to_start.end());
path.insert(path.end(), path_to_end.begin(), path_to_end.end());
paths[i] = path;
//輸出agv的路綫
std::cout << "AGV " << i << " path: ";
for (int j = 0; j < path.size(); j++) {
std::cout << "(" << path[j]->x << ", " <<path[j]->y << ")";
if (j != path.size() - 1) {
std::cout << " -> ";
}
}
std::cout << std::endl;
}
// 模擬運動
timer = new QTimer(this);
timer->start(500);
connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);
}
void MainWindow::moveAgvs() {
for (int i = 0; i < agvs.size(); i++) {
if (! paths[i].empty()) {
Node* next_node = paths[i][0];
float speed = agvs[i].getSpeed();
float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2));
float time = distance / speed * 1000;
QTimer::singleShot(time, this, [=]{
agvs[i].setCurrentX(next_node->x);
agvs[i].setCurrentY(next_node->y);
std::cout << "A " << agvs[i].getid() << " next_node : " << next_node->x <<" , " << next_node->y << std::endl;
std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() << std::endl;
this->update();
if (next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY()) {
//task_to_agv(i);
}
});
paths[i].erase(paths[i].begin());
}
}
}
```
上述代码报错error: ‘class tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> > >’ has no member named ‘setCallbackGroup’ 342 | laser_scan_filter_->setCallbackGroup(callback_group); | ^~~~~~~~~~~~~~~~ /home/kevin/WorkSpace/ros2_pkg/line_develop/src/reflection_locator/src/reflection_locator.cpp:345:13: error: ‘using element_type = class rclcpp::TimerBase’ {aka ‘class rclcpp::TimerBase’} has no member named ‘set_callback_group’ 345 | timer_->set_callback_group(callback_group);
这个报错信息提示你的代码中使用了不存在的成员函数或方法。具体地说,第一条错误信息说类tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan_<std::allocator<void> > >没有setCallbackGroup成员,第二条错误信息说using element_type = class rclcpp::TimerBase没有set_callback_group成员。这可能是因为你的代码中使用的库版本与这些成员函数或方法不兼容导致的。你可以尝试查看相关文档,了解这些成员函数或方法是否已被弃用或更改,或者尝试升级或降级相关库版本来解决这些问题。