use_link.cpp

  name="google_ads_frame" marginwidth="0" marginheight="0" src="http://pagead2.googlesyndication.com/pagead/ads?client=ca-pub-5572165936844014&dt=1194442938015&lmt=1194190197&format=336x280_as&output=html&correlator=1194442937843&url=file%3A%2F%2F%2FC%3A%2FDocuments%2520and%2520Settings%2Flhh1%2F%E6%A1%8C%E9%9D%A2%2FCLanguage.htm&color_bg=FFFFFF&color_text=000000&color_link=000000&color_url=FFFFFF&color_border=FFFFFF&ad_type=text&ga_vid=583001034.1194442938&ga_sid=1194442938&ga_hid=1942779085&flash=9&u_h=768&u_w=1024&u_ah=740&u_aw=1024&u_cd=32&u_tz=480&u_java=true" frameborder="0" width="336" scrolling="no" height="280" allowtransparency="allowtransparency"> #include <iostream.h>
#include <string.h>
#include <stdlib.h>

class dblinkob {
 public:
   char info;
   dblinkob *next;
   dblinkob *previous;
   dblinkob() {
      info = 0;
      next = NULL;
      previous = NULL;
    }
   dblinkob *getnext() {return next;}
   dblinkob *getprevious() {return previous;}
   void getinfo(char &c) { c = info;}
   void change(char c) {info = c;}
   friend ostream &operator<<(ostream &stream, dblinkob o)
    {
      stream << o.info << endl;
      return stream;
    }
   friend ostream &operator<<(ostream &stream, dblinkob *o)
    {
      stream << o->info << endl;
      return stream;
    }
   friend istream &operator>>(istream &stream, dblinkob &o)
    {
      cout << "Enter information: " << endl;
      stream >> o.info;
      return stream;
    }
 };

class dllist : public dblinkob {
   dblinkob *start, *end;
 public:
   dllist() {start = end = NULL;}
   void store(char c);
   void remove(dblinkob *ob);
   void frwdlist();
   void bkwdlist();
   dblinkob *find(char c);
   dblinkob *getstart() {return start;}
   dblinkob *getend() {return end;}
 };

void dllist::store(char c)
 {
   dblinkob *p;

   p = new dblinkob;
   if(!p) {
      cout << "Allocation error." << endl;
      exit(1);
    }
   p->info = c;
   if(start==NULL)
    {
      end = start = p;
    }
   else
    {
      p->previous = end;
      end->next = p;
      end = p;
    }
 }

void dllist::remove(dblinkob *ob)
 {
   if(ob->previous)
    {
      ob->previous->next = ob->next;
      if(ob->next)
         ob->next->previous = ob->previous;
      else
         end = ob->previous;
    }
   else
    {
      if(ob->next)
       {
         ob->next->previous = NULL;
         start = ob->next;
       }
      else
         start = end = NULL;
    }
 }

void dllist::frwdlist()
 {
   dblinkob *temp;

   temp = start;
   do {
      cout << temp->info << " ";
      temp = temp->getnext();
    } while(temp);
   cout << endl;
 }

void dllist::bkwdlist()
 {
   dblinkob *temp;

   temp = end;
   do {
      cout << temp->info << " ";
      temp = temp->getprevious();
   } while(temp);
   cout << endl;
 }

dblinkob *dllist::find(char c)
 {
   dblinkob *temp;

   temp = start;
   while(temp) {
      if(c==temp->info) return temp;
      temp = temp ->getnext();
    }
   return NULL;
 }

int main()
 {
   dllist list;
   char c;
   dblinkob *p;

   list.store('1');
   list.store('2');
   list.store('3');

   cout << "here is list backwards, then forwards." << endl;
   list.bkwdlist();
   list.frwdlist();
   cout << endl;
   cout << "'Manually' walk through the list." << endl;
   p = list.getstart();
   while(p) {
      p->getinfo(c);
      cout << c << " ";
      p = p->getnext();
    }
   cout << endl << endl;
   cout << "Looking for item 2." << endl;
   p = list.find('2');
   if(p)
    {
      p->getinfo(c);
      cout << "Found: " << c << endl;
    }
   cout << endl;
   p->getinfo(c);
   cout << "Removing item: " << c << endl;
   list.remove(p);
   cout << "Here is new list forwards." << endl;
   list.frwdlist();
   cout << endl;
   cout << "Adding an item." << endl;
   list.store('4');
   cout << "Here is list forwards." << endl;
   list.frwdlist();
   cout << endl;
   p = list.find('1');
   if(!p)
    {
      cout << "Error, item not found." << endl;
      return 1;
    }
   p->getinfo(c);
   cout << "Changing " << c << " to 5." << endl;
   p->change('5');
   cout << "Here is list forwards, then backwards." << endl;
   list.frwdlist();
   list.bkwdlist();
   cout << endl;
   cin >> *p;
   cout << p;
   cout << "Here is list forwards again." << endl;
   list.frwdlist();
   cout << endl;
   cout << "Here is list after removing head of list." << endl;
   p = list.getstart();
   list.remove(p);
   list.frwdlist();
   cout << endl;
   cout << "Here is list after removing end of list." << endl;
   p = list.getend();
   list.remove(p);
   list.frwdlist();
   return 0;
 }
 

 

 

 

 

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在ros项目中添加发送websocket wss消息的功能,修改如下代码并在CmakeLists.txt中添加依赖,实现将serialized_data发送到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840。main.cpp:#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }CMakeLists.txt:cmake_minimum_required(VERSION 3.0.2) project(t3) find_package(catkin REQUIRED COMPONENTS roscpp rospy pcl_ros std_msgs third_party ) find_package(Protobuf REQUIRED) include_directories(${Protobuf_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/..) find_package(Boost REQUIRED) include_directories(${Boost_INCLUDE_DIRS}) set(ixwebsocket_INCLUDE_DIR "/usr/local/include/ixwebsocket") set(ixwebsocket_LIBRARIES "/usr/local/lib/libixwebsocket.a") include_directories(${ixwebsocket_INCLUDE_DIR}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/smartview) catkin_package(INCLUDE_DIRS ${PROJECT_INCLUDE_DIRS} DEPENDS ${GFLAGS_LIBRARIES} ) include_directories( ${catkin_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/.. ) add_executable(${PROJECT_NAME}_node src/main.cpp ) add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} smartview_proto ) install(TARGETS ${PROJECT_NAME}_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} )
最新发布
06-09

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