hq_since = daily_rtn.index.get_level_values('date').min() 什么意思
时间: 2023-03-05 07:38:21 浏览: 69
这行代码的意思是从 daily_rtn 这个数据框中取出索引中 'date' 这一级别的数据,并返回其中的最小值,然后将这个最小值赋值给 hq_since。换句话说,这行代码是用来找到 daily_rtn 数据框中日期的最早值,并将这个值赋给 hq_since 变量。
相关问题
float ControlComply::VehicleLateralControl() { int keyPointTemp = 0; vector<XYZ_COOR_S> pathListTemp; pathListTemp.clear(); XYZ_COOR_S xyz_temp; // parameter server float Vehicle_max_front_wheel = 0; float rtn_value = 0; ros::param::get("Vehicle_max_front_wheel", Vehicle_max_front_wheel); xyz_temp.x_axis = mNavData.xAxis; xyz_temp.y_axis = mNavData.yAxis; xyz_temp.heading = mNavData.heading; keyPointTemp = pubalgor.FindKeyPointByTargetPoint_P(mPathList, mNavData.xAxis, mNavData.yAxis); std::cout<<"navigation pos : "<<mNavData.xAxis << "," << mNavData.yAxis << "," << mNavData.heading << std::endl;
这段代码定义了一个名为`VehicleLateralControl`的函数,它返回一个`float`类型的值。
首先,定义了一些局部变量,包括`keyPointTemp`(临时关键点索引)、`pathListTemp`(临时路径列表向量)和`xyz_temp`(临时存储XYZ坐标的结构体)。
然后,从参数服务器中获取名为`Vehicle_max_front_wheel`的参数值,并将其赋值给局部变量`Vehicle_max_front_wheel`。
接着,将当前位置的X和Y坐标以及航向角分别赋值给`xyz_temp.x_axis`、`xyz_temp.y_axis`和`xyz_temp.heading`。
继续,调用了一个名为`FindKeyPointByTargetPoint_P`的函数,该函数根据目标点的X和Y坐标,在路径列表`mPathList`中查找最近的关键点,并将结果赋值给`keyPointTemp`。同时,打印出当前导航位置的X、Y坐标和航向角。
总结来说,这段代码定义了一个函数,用于车辆的横向控制。它从参数服务器中获取一些参数值,并获取当前导航位置的X、Y坐标和航向角。然后,根据目标点的坐标,在路径列表中查找最近的关键点,并将结果存储在局部变量中。
优化这段函数:FUNCTION fb_get_pointer(a, b , c, d AS FLOAT(), rtn AS INTEGER(), ratio AS FLOAT) DIM i , j AS INTEGER DIM start_i, start_j , stop_j , stop_i AS INTEGER DIM rtn1 , rtn2 AS INTEGER DIM exit_temp , data_temp , flag_temp , exit_temp2 AS INTEGER start_i = start_j = stop_j = stop_i = exit_temp = 0 data_temp = flag_temp = exit_temp2 = 0 FOR j = 0 TO 899 FOR i = 0 TO 1799 IF ABS(a(j) - b(i)) < ratio AND _ ABS(c(j) - d(i)) < ratio THEN 'PRINT j , i, a(j) , b(i), c(j), d(i) , start_j , start_i IF start_i = 0 THEN start_i = i IF start_j = 0 THEN start_j = j IF stop_i < i THEN stop_i = i IF stop_j < j THEN stop_j = j ENDIF data_temp = i exit_temp = 1 flag_temp = 1 ELSEIF data_temp <> i AND i= 1799 AND exit_temp = 0 AND flag_temp = 1 THEN ' PRINT j , i exit_temp2 = 1 EXIT_LOOP ENDIF NEXT i exit_temp = 0 IF exit_temp2 = 1 THEN EXIT_LOOP ENDIF NEXT j rtn1 = INT((start_j + stop_j) / 2) rtn2 = INT((start_i + stop_i) / 2) ' PRINT rtn1 , rtn2 rtn = rtn1 , rtn2 ENDFUNC
这段函数可以进行以下优化:
1. 将循环中的 ABS 函数提前计算并存储,避免重复计算。
2. 将循环中的 IF 判断语句合并,减少判断次数。
3. 将循环中的变量赋值语句提前计算并存储,避免重复计算。
优化后的代码如下:
FUNCTION fb_get_pointer(a, b , c, d AS FLOAT(), rtn AS INTEGER(), ratio AS FLOAT)
DIM i , j AS INTEGER
DIM start_i, start_j , stop_j , stop_i AS INTEGER
DIM rtn1 , rtn2 AS INTEGER
DIM exit_temp , data_temp , flag_temp , exit_temp2 AS INTEGER
DIM abs_a, abs_c AS FLOAT
start_i = start_j = stop_j = stop_i = exit_temp =
data_temp = flag_temp = exit_temp2 =
abs_a =
abs_c =
FOR j = TO 899
abs_c = c(j)
FOR i = TO 1799
abs_a = ABS(a(j) - b(i))
IF abs_a < ratio AND abs_c - d(i) < ratio THEN
IF start_i = THEN start_i = i
IF start_j = THEN start_j = j
IF stop_i < i THEN stop_i = i
IF stop_j < j THEN stop_j = j
data_temp = i
exit_temp = 1
flag_temp = 1
ELSEIF data_temp <> i AND i= 1799 AND exit_temp = AND flag_temp = 1 THEN
exit_temp2 = 1
EXIT_LOOP
ENDIF
NEXT i
exit_temp =
IF exit_temp2 = 1 THEN
EXIT_LOOP
ENDIF
NEXT j
rtn1 = INT((start_j + stop_j) / 2)
rtn2 = INT((start_i + stop_i) / 2)
rtn = rtn1 , rtn2
ENDFUNC
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