my first launch file

<launch>

  <node pkg="turtlesim" type="turtle_teleop_key12312" name="turtlesim_teleop_keyboard" output="screen">
    <remap from="turtle1/cmd_vel" to="/wtf_CmdVel" />

  </node>
 

</launch>



that type meas the actual node of the motherfucker pkg node.

https://stackoverflow.com/questions/43515772/subscribing-and-publishing-geometry-twist-messages-from-turtlesim?utm_medium=organic&utm_source=google_rich_qa&utm_campaign=google_rich_qa
that shits are about the motherfuck geometry::Twist message mother fucker

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This is my My first math programm....??

06-26

//---------------------------------------------------------------------------rnrn#include rn#pragma hdrstoprn#include "math.h"rn#include "MathSys.h"rn#include "stdio.h"rn#include "vcl/inifiles.hpp" //-------------------------------INIfile Is OK!rn//---------------------------------------------------------------------------rn#pragma package(smart_init)rn#pragma resource "*.dfm"rnTForm1 *Form1;rnint pt=1;rn//---------------------------------------------------------------------------rn__fastcall TForm1::TForm1(TComponent* Owner)rn : TForm(Owner)rnrnrn//---------------------------------------------------------------------------rnvoid __fastcall TForm1::FormCreate(TObject *Sender)rnrn OnWrite0(N,N);rn HangLieShi=1;rnrn//---------------------------------------------------------------------------rnvoid TForm1::OnWrite0(int i,int j)rnrn String S;rn for(int i0=1;i0<=i;i0++)rn S.sprintf("%d",i0);StringGrid1->Cells[0][i0]=S;rn for(int i0=1;i0<=j;i0++)rn S.sprintf("%d",i0);StringGrid1->Cells[i0][0]=S;rnrnrnrnvoid __fastcall TForm1::Edit2KeyDown(TObject *Sender, WORD &Key,rn TShiftState Shift)rnrn if(Key==13)rn rn if(Edit1->Text!=""&&Edit2->Text!="")rn rn if(StrToInt(Edit1->Text)<1||StrToInt(Edit2->Text)<1||StrToInt(Edit1->Text)>40||StrToInt(Edit2->Text)>40)rn MessageBox(Handle,"Please Check The Number(1~40)","Note!",0);return ; rnrn h=StrToInt(Edit1->Text);l=StrToInt(Edit2->Text);rnrn StringGrid1->ColCount=l+1;rn StringGrid1->RowCount=h+1;rn OnWrite0(h+1,l+1);rn rn else MessageBox(Handle,"Please Input the ColNumber or LieNumber","Please!",0);rn rnrn//---------------------------------------------------------------------------rnrnvoid __fastcall TForm1::Edit1KeyDown(TObject *Sender, WORD &Key,rn TShiftState Shift)rnrnrn if(Key==13)rn rn if(Edit1->Text!=""&&Edit2->Text!="")rn rn if(StrToInt(Edit1->Text)<1||StrToInt(Edit2->Text)<1||StrToInt(Edit1->Text)>40||StrToInt(Edit2->Text)>40)rn MessageBox(Handle,"Please Check The Number(1~40)","Note!",0);return ; rnrn h=StrToInt(Edit1->Text);l=StrToInt(Edit2->Text);rnrn StringGrid1->ColCount=l+1;rn StringGrid1->RowCount=h+1;rn OnWrite0(h+1,l+1);rn rn else MessageBox(Handle,"Please Input the ColNumber or LieNumber","Please!",0);rn rnrnrn//---------------------------------------------------------------------------rnbool TForm1::OnRead0(int p)rnrnif(p==1)rnrn for(int i=0;iCells[j+1][i+1]!="") A[i][j]=StrToFloat(StringGrid1->Cells[j+1][i+1]);rn else return false;rn rn return true;rnrnelsernreturn true;rnrnrnrnvoid __fastcall TForm1::DieDai1Click(TObject *Sender)rnrn if(PanDuan1(1))rn rn if(OnRead0(1))rn float Sovle[N][3*N];rn float D;rn MessageBox(Handle,"Please Confirm 严格主对角占优!","OK",0);rn AnsiString S;rn if(InputQuery("Input The Start point","The Start Point:",S))rn for(int i=0;iD&&p<3*N-1);rnrn StringGrid1->ColCount=l+2;rn StringGrid1->RowCount=h+3;rn for(int i=0;iCells[i+1][h+2]=FloatToStr(Sovle[i][p]);rnrn rn if(p!=3*N-1)rn StringGrid1->Cells[l+1][h+2]=IntToStr(p);rn else StringGrid1->Cells[l+1][h+2]="No Sovle";rnrn rn rn rn else MessageBox(Handle,"Please Finish The Data!","Check",0);return;rn rn else MessageBox(Handle,"No SOVEL or No Def HANG and LIE!","Check",0);rnrn//---------------------------------------------------------------------------rnbool TForm1::PanDuan1(int i)rn if(i==1)rn return h==l-1?true:false;rn if(i==2)rn return h==l?true:false;rn return true;rnrnfloat TForm1::MAX0(float Z[N][3*N],int q)rnrn float crease=fabs(Z[0][q]-Z[0][q-1]);rn for(int i0=0;i0=i;j--)rn if(A[i][i]!=0) A[q][j]=A[q][j]-A[i][j]/A[i][i]*A[ q][i];rn else TiaoZhen(i+1);return;rnrnrn rn if(Check(h)==0)rn rn for(int i=h-1;i>=0;i--)rn rn for(int q=i-1;q>=0;q--)rn for(int j=h+l-1;j>=i;j--)rn if(A[i][i]!=0) A[q][j]=A[q][j]-A[i][j]/A[i][i]*A[ q][i];rn else TiaoZhen(i+1);return;rn rnrn for(int i=0;iColCount=l+1+h;rn StringGrid1->RowCount=h+2+h;rn for(int i=0;iCells[j+1][i+h+2]=FloatToStr(A[i][j]);rn rn else MessageBox(Handle,"No Sovler","Notes",0);HangLieShi=0;return;rn rn else TiaoZhen(Check(h));return;rn rn else MessageBox(Handle,"Please Finish The Data!","Check",0);return;rn rn else MessageBox(Handle,"No SOVEL or No Def HANG and LIE!","Check",0);rnrnrnrn//---------------------------------------------------------------------------rnrnvoid __fastcall TForm1::Reflash1Click(TObject *Sender)rnrn Edit1->Text="";rn Edit2->Text="";rn StringGrid1->ColCount=N+1;rn StringGrid1->RowCount=N+1;rn for(int i=0;iCells[j][i]="";rnrn pt=1;rn OnWrite0(N,N);rn StringGrid1->Refresh();rnrn//---------------------------------------------------------------------------rnint TForm1::Check(int t)rnrn for(int i=0;iCells[i][1];StringGrid1->Cells[i][1]=StringGrid1->Cells[i][pp];rn StringGrid1->Cells[i][pp]=S;rn elsern for(int i=1;i<=l;i++)rn S=StringGrid1->Cells[i][pp];StringGrid1->Cells[i][pp]=StringGrid1->Cells[i][h];rn StringGrid1->Cells[i][h]=S;rn XiaoQu1Click(this);rnrnvoid __fastcall TForm1::NiZhen1Click(TObject *Sender)rnrnrn MessageBox(Handle,"Please Read the Qquention!","Check",0);return;rnrnrnrn//---------------------------------------------------------------------------rnvoid TForm1::Refresh()rnrn for(int i=0;iFilter="TXT Files(*.TXT)|*.txt";rn if(SaveDialog1->Execute())rn rn FILE *fp;rn float temp;rn fp=fopen((SaveDialog1->FileName+".TXT").c_str(),"w");rn if(h==0&&l==0)MessageBox(Handle,"The file is ampty!","Warnin" ,1);fclose(fp);return;rn fprintf(fp,"%d\n",h);rn fprintf(fp,"%d\n",l);rn for(int i=0;iCells[j+1][i+1]);if(j!=l-1) fprintf(fp,"%f ",temp);else fprintf(fp,"%f\n",temp);rn fclose(fp);rn rnrn//---------------------------------------------------------------------------rnrnvoid __fastcall TForm1::Open1Click(TObject *Sender)rnrn OpenDialog1->Filter="TXT Files(*.TXT)|*.txt";rn if(OpenDialog1->Execute())rn rn FILE *fp;rn float ftmp;rn int itmp1,itmp2,i,j;rn fp=fopen(OpenDialog1->FileName.c_str(),"r");rn if(!fscanf(fp,"%d",&itmp1)||(!fscanf(fp,"%d",&itmp2))) MessageBox(Handle,"The data File is read error!","Warning",1);fclose(fp);return;rn h=itmp1;rn l=itmp2;rn Edit1->Text=IntToStr(itmp1);rn Edit2->Text=IntToStr(itmp2);rnrn StringGrid1->ColCount=itmp2+1;rn StringGrid1->RowCount=itmp1+1;rn OnWrite0(itmp1,itmp2);rn for(i=0;iCells[j+1][i+1]=FloatToStr(ftmp);rn else MessageBox(Handle,"The data is not Complete!","Waring!",1);fclose(fp);return;rn rnrn fclose(fp);rn rnrn//---------------------------------------------------------------------------rnrnvoid __fastcall TForm1::StuZongHeAnysys1Click(TObject *Sender)rnrn //Refresh();rn if(OnRead0(pt))rn AnsiString S="5";rn int Head_del,Last_del;rn // float temp[N][N];rn PaiXu(h,l,true);rn if(InputQuery("Input the Head_DEL Number","The Head_DEL Number(5)",S))rn Head_del=StrToInt(S);rn else Head_del=5;rn if(InputQuery("Input the Last_DEL Number","The Last_DEL Number(5)",S))rn Last_del=StrToInt(S);rn else Last_del=5;rn for(int i=0;iCells[j+1][i+1]=FloatToStr(tmp[i][j]);rn StringGrid1->RowCount=h+3;rn for(int t=1;t<=l;t++)rn StringGrid1->Cells[t][h+2]=FloatToStr(Stu_Aver(t-1,Head_del,Last_del,true));rnrn pt++;rn rn else MessageBox(Handle,"Please Complete the data or the data is not match!","Warning!" ,1);return;rnrnrn//---------------------------------------------------------------------------rnvoid TForm1::PaiXu(int i,int j,bool mode)rnrnrn float Temp,p;rn Swap();rn if(mode)rn rn for(int j0=0;j0Cells[j+1][i+1]=FloatToStr(tmp[i][j]);rn StringGrid1->ColCount=l+3;rn for(int t=1;t<=h;t++)rn StringGrid1->Cells[l+2][t]=FloatToStr(Stu_Aver(t-1,Head_del,Last_del,false));rnrn pt++;rn rn else MessageBox(Handle,"Please Complete the data or the data is not match!","Warning!" ,1);return;rnrnrnrn//---------------------------------------------------------------------------rnvoid TForm1::Swap()rnrnrn for(int i=0;iFilter="INI Files(*.INI)|*.ini";rn if(SaveDialog1->Execute())rn rnrn TIniFile *IniSave=new TIniFile(SaveDialog1->FileName+".ini");rn IniSave->WriteString("Col_Row","Row",IntToStr(h));rn IniSave->WriteString("Col_Row","Col",IntToStr(l));rn for(int i=0;iWriteString("DATA","A["+IntToStr(i)+","+IntToStr(j)+"]",StringGrid1->Cells[j+1][i+1]);rn delete IniSave;rn rnrnrn//---------------------------------------------------------------------------rnrnvoid __fastcall TForm1::Openini1Click(TObject *Sender)rnrn OpenDialog1->Filter="INI Files(*.INI)|*.ini";rn if(OpenDialog1->Execute())rn rn TIniFile *IniOpen=new TIniFile(OpenDialog1->FileName);rn h=StrToInt(IniOpen->ReadString("Col_Row","Row","0"));rn l=StrToInt(IniOpen->ReadString("Col_Row","Col","0"));rn Edit1->Text=IniOpen->ReadString("Col_Row","Row","0");rn Edit2->Text=IniOpen->ReadString("Col_Row","Col","0");rn StringGrid1->RowCount=h+1;rn StringGrid1->ColCount=l+1;rn OnWrite0(h,l);rn for(int i=0;iCells[j+1][i+1]=IniOpen->ReadString("DATA","A["+IntToStr(i)+","+IntToStr(j)+"]","0");rn delete IniOpen;rn rnrnrn//---------------------------------------------------------------------------rnrnBut there are some mistakes!Please give me some advices!thinks!

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