计算机英语仲裁合词,DATA WAREHOUSE--计算机英语论文翻译毕业设计3.doc

DATA WAREHOUSE

Data warehousing provides architectures and tools for business executives to systematically organize, understand, and use their data to make strategic decisions. A large number of organizations have found that data warehouse systems are valuable tools in today's competitive, fast evolving world. In the last several years, many firms have spent millions of dollars in building enterprise-wide data warehouses. Many people feel that with competition mounting in every industry, data warehousing is the latest must-have marketing weapon —— a way to keep customers by learning more about their needs.

“So", you may ask, full of intrigue, “what exactly is a data warehouse?"

Data warehouses have been defined in many ways, making it difficult to formulate a rigorous definition. Loosely speaking, a data warehouse refers to a database that is maintained separately from an organization's operational databases. Data warehouse systems allow for the integration of a variety of application systems. They support information processing by providing a solid platform of consolidated, historical data for analysis.

According to W. H. Inmon, a leading architect in the construction of data warehouse systems, “a data warehouse is a subject-oriented, integrated, time-variant, and nonvolatile collection of data in support of management's decision making process." This short, but comprehensive definition presents the major features of a data warehouse. The four keywords, subject-oriented, integrated, time-variant, and nonvolatile, distinguish data warehouses from other data repository systems, such as relational database systems, transaction processing systems, and file systems. Let's take a closer look at each of these key features.

(1)Subject-oriented: A data warehouse is organized around major subjects, such as customer, vendor, product, and sales. Rather than concentrating on the day-to-day operations and transaction processing of an organization, a data warehouse focuses on the

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以下是一个简单的 Python 示例,展示了如何使用 Warehouse - Persistent Scenes and States 功能: ```python import rospy import moveit_commander from moveit_commander import PlanningSceneInterface from moveit_commander import RobotState from moveit_commander import RobotTrajectory from moveit_commander import MoveGroupCommander from moveit_msgs.msg import PlanningScene, PlanningSceneComponents from moveit_msgs.srv import GetPlanningScene, ApplyPlanningScene, SaveMap, LoadMap from trajectory_msgs.msg import JointTrajectoryPoint def main(): # 初始化 ROS 节点 rospy.init_node('warehouse_tutorial', anonymous=True) # 初始化 MoveIt Commander robot = moveit_commander.RobotCommander() scene = PlanningSceneInterface() group = moveit_commander.MoveGroupCommander("manipulator") # 创建 Robot State 和 Joint Trajectory Point robot_state = RobotState() joint_trajectory_point = JointTrajectoryPoint() # 将 Robot State 中的关节状态设置为规划器的当前状态 robot_state.joint_state.name = group.get_active_joints() robot_state.joint_state.position = group.get_current_joint_values() # 将 Joint Trajectory Point 中的关节状态设置为规划器的当前状态 joint_trajectory_point.positions = group.get_current_joint_values() # 将 Robot State 和 Joint Trajectory Point 保存到 Warehouse 中 rospy.wait_for_service("/planning_scene/get_planning_scene") get_planning_scene = rospy.ServiceProxy("/planning_scene/get_planning_scene", GetPlanningScene) response = get_planning_scene(PlanningSceneComponents(components=PlanningSceneComponents.ROBOT_STATE)) robot_state.robot_model_state = response.scene.robot_state rospy.wait_for_service("/apply_planning_scene") apply_planning_scene = rospy.ServiceProxy("/apply_planning_scene", ApplyPlanningScene) apply_planning_scene(PlanningScene(robot_state=robot_state)) rospy.wait_for_service("/planning_scene/get_planning_scene") get_planning_scene = rospy.ServiceProxy("/planning_scene/get_planning_scene", GetPlanningScene) response = get_planning_scene(PlanningSceneComponents(components=PlanningSceneComponents.ROBOT_STATE)) robot_state.robot_model_state = response.scene.robot_state rospy.wait_for_service("/apply_planning_scene") apply_planning_scene = rospy.ServiceProxy("/apply_planning_scene", ApplyPlanningScene) apply_planning_scene(PlanningScene(robot_state=robot_state)) rospy.wait_for_service("/planning_scene/get_planning_scene") get_planning_scene = rospy.ServiceProxy("/planning_scene/get_planning_scene", GetPlanningScene) response = get_planning_scene(PlanningSceneComponents(components=PlanningSceneComponents.JOINT_STATE)) joint_trajectory_point.time_from_start = rospy.Duration(1.0) joint_trajectory_point.velocities = [0] * len(joint_trajectory_point.positions) robot_trajectory = RobotTrajectory() robot_trajectory.joint_trajectory.joint_names = response.scene.robot_state.joint_state.name robot_trajectory.joint_trajectory.points.append(joint_trajectory_point) rospy.wait_for_service("/save_map") save_map = rospy.ServiceProxy("/save_map", SaveMap) save_map(robot_trajectory, "trajectory") rospy.wait_for_service("/load_map") load_map = rospy.ServiceProxy("/load_map", LoadMap) robot_trajectory = load_map("trajectory") group.execute(robot_trajectory.joint_trajectory.points) if __name__ == '__main__': main() ``` 这个示例实现了以下功能: 1. 初始化 ROS 节点和 MoveIt Commander。 2. 创建 Robot State 和 Joint Trajectory Point。 3. 将 Robot State 和 Joint Trajectory Point 保存到 Warehouse 中。 4. 从 Warehouse 中加载 Joint Trajectory Point 并执行。 使用 Warehouse - Persistent Scenes and States 功能,您可以将 Robot State、Joint Trajectory Point 和 Robot Trajectory 保存到 Warehouse 中,并随时从 Warehouse 中加载和使用。这使得您可以在不同的 ROS Noetic 应用程序之间共享 Robot State、Joint Trajectory Point 和 Robot Trajectory,从而更方便地管理和重用这些数据。

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