解压中文zip压缩包
unzip -O gb2312 基于多态的职工管理系统.zip
使用 cp936、GBK 或 GB2312 编码解压压缩包即可,下面三条命令任选其一执行:
unzip -O cp936 压缩包路径
unzip -O gbk 压缩包路径
unzip -O gb2312 压缩包路径
注意,解压后的结果放在了主目录里
也可以在当前目录终端运行该语句,最后解压在当前终端里
双线程
#include <iostream>
#include <thread>
#include <pthread.h>
#include <mutex>
using namespace std;
static const int nt=2;
std::mutex lock1;
bool flag = false;
void Hello(int num)
{
while (1)
{
lock1.lock();
cout << num << ": Hello thread!" << endl;
lock1.unlock();
if (flag) break;
}
}
void Hello2(int num)
{
while (1)
{
lock1.lock();
cout << num << ": 你好!" << endl;
lock1.unlock();
if (flag) break;
}
}
int main(void)
{
thread t[2];
t[0] = thread(Hello, 0);
t[1] = thread(Hello2, 1);
flag = true;
t[1].join();
t[0].join();
lock1.lock();
cout << "Main thread exit." << endl;
lock1.unlock();
return 0;
}
读txt为csv,并画图
#导入包
import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
# df = pd.read_csv("/home/keyirobot/testfile.txt",delimiter=" ")
# df.to_csv("/home/keyirobot/testfile.csv", encoding='utf-8', index=False)
df = pd.read_csv('/home/keyirobot/testfile.csv')
df=df.values#转为array格式
print(df.shape)
a1 = df[:,0]
a2 = df[:,1]
a3 = df[:,2]
a4 = df[:,3]
plt.plot(a1 , c='black', label='legend')
plt.plot(a2 , c='red', label='legend')
plt.show()
定义系统变量推导公式(m文件->py文件)
m文件如下:
% 旋转顺序:Z,Y,X(从大地坐标系到IMU坐标系)
% 定义一些符号 r=row p=pitch y=yaw
syms r p y
% 3个旋转矩阵(坐标系旋转,注意负号的位置!)
M_x = [ 1, 0, 0;
0, cos(r), sin(r);
0, -sin(r), cos(r)];
M_y = [cos(p), 0, -sin(p);
0, 1, 0;
sin(p), 0, cos(p)];
M_z = [ cos(y), sin(y), 0;
-sin(y), cos(y), 0;
0, 0, 1];
%% 推导陀螺仪的变换矩阵
%定义一些符号 drdt dpdt dydt 指的是分别对 roll pitch yaw求导,也就是角速度
syms drdt dpdt dydt
% 绕x轴转动 row 的角速度
dr_t = [drdt;
0;
0];
% 绕y轴转动 pitch 的角速度
dp_t = [ 0;
dpdt;
0];
% 绕z轴转动 yaw 的角速度
dy_t = [ 0;
0;
dydt];
% [矩阵X*矩阵Y*yaw角速度(绕Z)] + [矩阵X*pitch角速度(绕Y)] + [roll角速度(绕X)]
% IMU_gyro实际就是IMU测得的3个陀螺仪数据
IMU_gyro = M_x*M_y*dy_t + M_x*dp_t + dr_t;
fprintf('M_x*M_y*dy_t + M_x*dp_t + dr_t=\r\n')
disp(IMU_gyro)
% roll pitch yaw角速度组成的列向量,这个实际是要求的大地坐标系的3个角速度
rpy_t = [drdt;
dpdt;
dydt];
%手动分解IMU_gyro为矩阵M_gyro与列向量rpy_t相乘的形式
%根据IMU_gyro写出M_gyro,该矩阵将大地坐标系的角速度转换为IMU坐标系
M_gyro = [ 1, 0, -sin(p);
0, cos(r),cos(p)*sin(r);
0,-sin(r),cos(p)*cos(r)];
%验证一下
if M_gyro * rpy_t==IMU_gyro
fprintf('M_gyro is true\r\n');
else
fprintf('M_gyro is false\r\n');
end
fprintf('M_gyro=\r\n')
disp(M_gyro)
% 对M_gyro求逆矩阵,用于将IMU坐标系的陀螺仪角速度值转换到大地坐标系
M_gyro_inv = inv(M_gyro);
fprintf('M_gyro_inv=\r\n')
disp(M_gyro_inv)
% matlab求解的逆矩阵需要在再手工化简
M_gyro_inv_ =[ 1, (sin(p)*sin(r))/cos(p), (cos(r)*sin(p))/cos(p);
0, cos(r), -sin(r);
0, sin(r)/cos(p), cos(r)/cos(p)];
% 验证一下,M_gyro_inv_ * M_gyro_inv应该是单位矩阵
fprintf('M_gyro_inv_ * M_gyro=\r\n')
disp(M_gyro_inv_ * M_gyro)
fprintf('M_gyro_inv_ =\r\n')
disp(M_gyro_inv_)
py文件如下:
import sympy as sp
r,p,y = sp.symbols('r p y')
M_x = sp.Matrix([[ 1, 0, 0],[0, sp.cos(r), sp.sin(r)],[0, -sp.sin(r), sp.cos(r)]])
M_y = sp.Matrix([[sp.cos(p), 0, -sp.sin(p)],[ 0, 1, 0],[sp.sin(p), 0, sp.cos(p)]])
M_z = sp.Matrix([[ sp.cos(y), sp.sin(y), 0],[-sp.sin(y), sp.cos(y), 0],[ 0, 0, 1]])
drdt, dpdt ,dydt = sp.symbols('drdt dpdt dydt')
dr_t = sp.Matrix([[drdt,0,0]]).T
dp_t = sp.Matrix([[0,dpdt,0]]).T
dy_t = sp.Matrix([[0,0,dydt]]).T
IMU_gyro = M_x*M_y*dy_t + M_x*dp_t + dr_t
rpy_t = sp.Matrix([[drdt, dpdt, dydt]]).T
# 手写!!!!根据IMU_gyro写出M_gyro,该矩阵将大地坐标系的角速度转换为IMU坐标系
M_gyro = sp.Matrix([[ 1, 0,-sp.sin(p)],[0, sp.cos(r),sp.cos(p)*sp.sin(r) ],[0,-sp.sin(r),sp.cos(p)*sp.cos(r)]])
# M_gyro_inv = M_gyro**(-1)
M_gyro_inv = M_gyro**(-1)
onematrix = M_gyro_inv*M_gyro
print(onematrix)