/** * \brief We set the slot functions. * * \param tv Pointer to the TV to set the slot function for. * \param name Name of the slot variant. * \param fn_p Pointer to a custom slot function. Used only if slot variant * "name" is "custom". * * \retval TmEcode TM_ECODE_OK on success; TM_ECODE_FAILED on failure. 这是suricata的注释

这段注释是关于在Suricata中设置插槽函数的。插槽函数是用于处理不同类型数据的函数，例如IP包、TCP包等。

该函数的输入参数包括指向TV的指针和插槽变量的名称。如果插槽变量的名称为“custom”，则还需要提供一个指向自定义插槽函数的指针。

该函数的返回值为TmEcode类型的错误码，如果执行成功则返回TM_ECODE_OK，如果执行失败则返回TM_ECODE_FAILED。

相关问题

分析下列程序的运行namespace nav_core { /** * @class BaseLocalPlanner * @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. / class BaseLocalPlanner{ public: /* * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base * @param cmd_vel Will be filled with the velocity command to be passed to the robot base * @return True if a valid velocity command was found, false otherwise / virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; /* * @brief Check if the goal pose has been achieved by the local planner * @return True if achieved, false otherwise / virtual bool isGoalReached() = 0; /* * @brief Set the plan that the local planner is following * @param plan The plan to pass to the local planner * @return True if the plan was updated successfully, false otherwise / virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0; /* * @brief Constructs the local planner * @param name The name to give this instance of the local planner * @param tf A pointer to a transform listener * @param costmap_ros The cost map to use for assigning costs to local plans / virtual void initialize(std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseLocalPlanner(){} protected: BaseLocalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_LOCAL_PLANNER_H

这是一个 C++ 程序，定义了一个命名空间 nav_core，其中包含了一个类 BaseLocalPlanner，该类提供了用于导航中本地规划器的接口。所有作为导航栈插件编写的本地规划器都必须遵守此接口。

该类包含了四个虚函数，分别是：

1. computeVelocityCommands: 根据机器人的当前位置、方向和速度计算速度命令，并将其填充到 cmd_vel 中。

2. isGoalReached: 检查本地规划器是否已经到达目标位姿。

3. setPlan: 设置本地规划器要遵循的路径。

4. initialize: 构造本地规划器，并初始化其参数。

该类还包含了一个保护构造函数和一个虚析构函数。

给下列程序添加英文注释：namespace nav_core { /** * @class BaseGlobalPlanner * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. / class BaseGlobalPlanner{ public: /* * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @return True if a valid plan was found, false otherwise / virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0; /* * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @param cost The plans calculated cost * @return True if a valid plan was found, false otherwise / virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan, double& cost) { cost = 0; return makePlan(start, goal, plan); } /* * @brief Initialization function for the BaseGlobalPlanner * @param name The name of this planner * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning / virtual void initialize(std::string name, costmap_2d::Costmap2DROS costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseGlobalPlanner(){} protected: BaseGlobalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_GLOBAL_PLANNER_H

/**
* @file base_global_planner.h
* @brief Provides an interface for global planners used in navigation.
* All global planners written as plugins for the navigation stack must adhere to this interface.
*/

namespace nav_core {
/**
* @class BaseGlobalPlanner
* @brief Provides an interface for global planners used in navigation.
* All global planners written as plugins for the navigation stack must adhere to this interface.
*/
class BaseGlobalPlanner{
public:
/**
* @brief Given a goal pose in the world, compute a plan
* @param start The start pose
* @param goal The goal pose
* @param plan The plan... filled by the planner
* @return True if a valid plan was found, false otherwise
*/
virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;

/**
* @brief Given a goal pose in the world, compute a plan
* @param start The start pose
* @param goal The goal pose
* @param plan The plan... filled by the planner
* @param cost The plans calculated cost
* @return True if a valid plan was found, false otherwise
*/
virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan, double& cost) {
cost = 0;
return makePlan(start, goal, plan);
}

/**
* @brief Initialization function for the BaseGlobalPlanner
* @param name The name of this planner
* @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning
*/
virtual void initialize(std::string name, costmap_2d::Costmap2DROS costmap_ros) = 0;

/**
* @brief Virtual destructor for the interface
*/
virtual ~BaseGlobalPlanner(){}

protected:
BaseGlobalPlanner(){}
};
}; // namespace nav_core

#endif // NAV_CORE_BASE_GLOBAL_PLANNER_H