autoware终端 return _core_.Window_SetLabel(*args, **kwargs) File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode return codecs.utf_8_decode(input, errors, True) UnicodeDecodeError: 'utf8' codec can't decode bytes in position 373-374: invalid continuation byte Traceback (most recent call last): File "/usr/lib/python2.7/dist-packages/wx-3.0-gtk3/wx/_core.py", line 16765, in <lambda> lambda event: event.callable(*event.args, **event.kw) ) File "/usr/lib/python2.7/dist-packages/wx-3.0-gtk3/wx/_core.py", line 9207, in SetLabel return _core_.Window_SetLabel(*args, **kwargs) File "/usr/lib/python2.7/encodings/utf_8.py", line 16, in decode return codecs.utf_8_decode(input, errors, True) UnicodeDecodeError: 'utf8' codec can't decode bytes in position 373-374: invalid continuation byte

这个错误是因为你的程序尝试使用utf-8解码包含无效字节的字符串，导致解码失败。建议检查你的程序代码，特别是涉及到字符串编码和解码的部分，确保所有的字符串都是用正确的编码方式进行处理。你可以尝试使用Python的内置函数`str.encode()`将字符串编码为utf-8格式。同时，也可以使用Python的内置函数`str.decode()`将已编码的字符串解码为可读的字符串。

相关问题

CMake Error at CMakeLists.txt:4 (find_package): By not providing "Findautoware_cmake.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "autoware_cmake", but CMake did not find one. Could not find a package configuration file provided by "autoware_cmake" with any of the following names: autoware_cmakeConfig.cmake autoware_cmake-config.cmake Add the installation prefix of "autoware_cmake" to CMAKE_PREFIX_PATH or set "autoware_cmake_DIR" to a directory containing one of the above files. If "autoware_cmake" provides a separate development package or SDK, be sure it has been installed.

这个错误提示是在使用 CMake 构建项目时出现的。提示中说缺少名为 "Findautoware_cmake.cmake" 的文件，因此 CMake 无法找到 "autoware_cmake" 这个包的配置文件。

解决方法：

1. 确保安装了 "autoware_cmake" 这个包，并且已经正确安装。
2. 将 "autoware_cmake" 的安装路径添加到 CMAKE_PREFIX_PATH 环境变量中，或者将 "autoware_cmake_DIR" 设置为包含上述文件之一的目录。
3. 如果 "autoware_cmake" 提供了单独的开发包或 SDK，请确保已经正确安装。

优化这个函数的效率void common_pack::calculateQuaternionsForEachPoint(std::vector<autoware_msgs::Waypoint> &path) { Eigen::Quaterniond q; for (size_t i = 0; i + 1 < path.size(); i++) { autoware_msgs::Waypoint p_c = path[i]; autoware_msgs::Waypoint p_n = path[i + 1]; double yaw = std::atan2(p_n.pose.pose.position.y - p_c.pose.pose.position.y, p_n.pose.pose.position.x - p_c.pose.pose.position.x); Eigen::AngleAxisd rollangle(0, Eigen::Vector3d::UnitX()); Eigen::AngleAxisd yawangle(yaw, Eigen::Vector3d::UnitZ()); Eigen::AngleAxisd pitchangle(0, Eigen::Vector3d::UnitY()); q = rollangle * yawangle * pitchangle; path.at(i).pose.pose.orientation.x = q.x(); path.at(i).pose.pose.orientation.y = q.y(); path.at(i).pose.pose.orientation.z = q.z(); path.at(i).pose.pose.orientation.w = q.w(); } if (path.size() > 2) { path.at(path.size() - 1).pose.pose.orientation = path[path.size() - 2].pose.pose.orientation; } }

可以考虑以下优化方法：

1. 避免重复计算：可以将重复计算的值存储在变量中，避免重复计算。例如，将 p_n.pose.pose.position.x - p_c.pose.pose.position.x 存储在变量 dx 中，将 p_n.pose.pose.position.y - p_c.pose.pose.position.y 存储在变量 dy 中。

2. 减少函数调用次数：可以避免多次调用 path.at(i).pose.pose.orientation，将其存储在一个变量中，例如，将 path.at(i).pose.pose.orientation 存储在变量 orientation 中，然后直接赋值 orientation.x() = q.x() 等。

3. 减少 vector 的访问：可以将访问 path[i] 和 path[i+1] 的操作提取到循环外，存储在变量 p_c 和 p_n 中。

改进后的代码如下：

void common_pack::calculateQuaternionsForEachPoint(std::vector<autoware_msgs::Waypoint> &path) {
  Eigen::Quaterniond q;
  Eigen::AngleAxisd rollangle(0, Eigen::Vector3d::UnitX());
  Eigen::AngleAxisd pitchangle(0, Eigen::Vector3d::UnitY());

  if (path.size() < 2) {
    return;
  }

  autoware_msgs::Waypoint p_c = path[0];
  for (size_t i = 0; i + 1 < path.size(); i++) {
    autoware_msgs::Waypoint p_n = path[i + 1];

    double dx = p_n.pose.pose.position.x - p_c.pose.pose.position.x;
    double dy = p_n.pose.pose.position.y - p_c.pose.pose.position.y;
    double yaw = std::atan2(dy, dx);

    Eigen::AngleAxisd yawangle(yaw, Eigen::Vector3d::UnitZ());
    q = rollangle * yawangle * pitchangle;

    auto& orientation = path[i].pose.pose.orientation;
    orientation.x() = q.x();
    orientation.y() = q.y();
    orientation.z() = q.z();
    orientation.w() = q.w();

    p_c = path[i];
  }

  auto& last_orientation = path.back().pose.pose.orientation;
  last_orientation = path[path.size() - 2].pose.pose.orientation;
}