请解释这段代码：points_origin=load('original_shape.dat')

这段代码使用load函数来加载名为"original_shape.dat"的数据文件，并将数据存储在points_origin变量中。这个数据文件可能包含一些原始形状的点坐标。这个数据可以用于进行计算机图形学中的许多任务，如形状匹配，三维重建等。

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class AbstractGreedyAndPrune(): def __init__(self, aoi: AoI, uavs_tours: dict, max_rounds: int, debug: bool = True): self.aoi = aoi self.max_rounds = max_rounds self.debug = debug self.graph = aoi.graph self.nnodes = self.aoi.n_targets self.uavs = list(uavs_tours.keys()) self.nuavs = len(self.uavs) self.uavs_tours = {i: uavs_tours[self.uavs[i]] for i in range(self.nuavs)} self.__check_depots() self.reachable_points = self.__reachable_points() def __pruning(self, mr_solution: MultiRoundSolution) -> MultiRoundSolution: return utility.pruning_multiroundsolution(mr_solution) def solution(self) -> MultiRoundSolution: mrs_builder = MultiRoundSolutionBuilder(self.aoi) for uav in self.uavs: mrs_builder.add_drone(uav) residual_ntours_to_assign = {i : self.max_rounds for i in range(self.nuavs)} tour_to_assign = self.max_rounds * self.nuavs visited_points = set() while not self.greedy_stop_condition(visited_points, tour_to_assign): itd_uav, ind_tour = self.local_optimal_choice(visited_points, residual_ntours_to_assign) residual_ntours_to_assign[itd_uav] -= 1 tour_to_assign -= 1 opt_tour = self.uavs_tours[itd_uav][ind_tour] visited_points |= set(opt_tour.targets_indexes) # update visited points mrs_builder.append_tour(self.uavs[itd_uav], opt_tour) return self.__pruning(mrs_builder.build()) class CumulativeGreedyCoverage(AbstractGreedyAndPrune): choice_dict = {} for ind_uav in range(self.nuavs): uav_residual_rounds = residual_ntours_to_assign[ind_uav] if uav_residual_rounds > 0: uav_tours = self.uavs_tours[ind_uav] for ind_tour in range(len(uav_tours)): tour = uav_tours[ind_tour] quality_tour = self.evaluate_tour(tour, uav_residual_rounds, visited_points) choice_dict[quality_tour] = (ind_uav, ind_tour) best_value = max(choice_dict, key=int) return choice_dict[best_value] def evaluate_tour(self, tour : Tour, round_count : int, visited_points : set): new_points = (set(tour.targets_indexes) - visited_points) return round_count * len(new_points) 如何改写上述程序，使其能返回所有已经探索过的目标点visited_points的数量，请用代码表示

可以在 `solution()` 方法中添加一个变量来记录已经探索过的目标点数量，然后在每次更新 `visited_points` 后更新这个变量。下面是修改后的代码：

class AbstractGreedyAndPrune():
    def __init__(self, aoi: AoI, uavs_tours: dict, max_rounds: int, debug: bool = True):
        self.aoi = aoi
        self.max_rounds = max_rounds
        self.debug = debug
        self.graph = aoi.graph
        self.nnodes = self.aoi.n_targets
        self.uavs = list(uavs_tours.keys())
        self.nuavs = len(self.uavs)
        self.uavs_tours = {i: uavs_tours[self.uavs[i]] for i in range(self.nuavs)}
        self.__check_depots()
        self.reachable_points = self.__reachable_points()
        
    def __pruning(self, mr_solution: MultiRoundSolution) -> MultiRoundSolution:
        return utility.pruning_multiroundsolution(mr_solution)
    
    def solution(self) -> Tuple[MultiRoundSolution, int]:
        mrs_builder = MultiRoundSolutionBuilder(self.aoi)
        
        for uav in self.uavs:
            mrs_builder.add_drone(uav)
            
        residual_ntours_to_assign = {i : self.max_rounds for i in range(self.nuavs)}
        tour_to_assign = self.max_rounds * self.nuavs
        visited_points = set()
        explored_points = 0
        
        while not self.greedy_stop_condition(visited_points, tour_to_assign):
            itd_uav, ind_tour = self.local_optimal_choice(visited_points, residual_ntours_to_assign)
            residual_ntours_to_assign[itd_uav] -= 1
            tour_to_assign -= 1
            opt_tour = self.uavs_tours[itd_uav][ind_tour]
            new_points = set(opt_tour.targets_indexes) - visited_points
            explored_points += len(new_points)
            visited_points |= new_points  # update visited points
            mrs_builder.append_tour(self.uavs[itd_uav], opt_tour)
        
        return self.__pruning(mrs_builder.build()), explored_points
    
    
class CumulativeGreedyCoverage(AbstractGreedyAndPrune):
    def evaluate_tour(self, tour : Tour, round_count : int, visited_points : set):
        new_points = set(tour.targets_indexes) - visited_points
        return round_count * len(new_points)
    
    def local_optimal_choice(self, visited_points, residual_ntours_to_assign):
        choice_dict = {}
        for ind_uav in range(self.nuavs):
            uav_residual_rounds = residual_ntours_to_assign[ind_uav]
            if uav_residual_rounds > 0:
                uav_tours = self.uavs_tours[ind_uav]
                for ind_tour in range(len(uav_tours)):
                    tour = uav_tours[ind_tour]
                    quality_tour = self.evaluate_tour(tour, uav_residual_rounds, visited_points)
                    choice_dict[quality_tour] = (ind_uav, ind_tour)
        
        best_value = max(choice_dict, key=int)
        return choice_dict[best_value]

请解释这段代码：splitter=points_origin(37:54,:);

这段代码将一个名为“points_origin”的矩阵的第37到54行的所有列提取出来，并将结果存储在名为“splitter”的新矩阵中。 在Matlab中，“:”符号表示“所有行或列”。因此，“points_origin(37:54,:)”中的“:”将提取所有列。 因为这是一个矩阵，所以结果将是另一个矩阵。