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SIROTD-136 // Awto Steering #include <iostream> #include <vector> #include <cmath> class Particle { public: double x, y, theta; // position (x, y) and angle (theta) double v, w; // velocity (v) and angular velocity (w) Particle() : x(0), y(0), theta(0), v(0), w(0) {} }; class Control { public: double u, w; // force (u) and angular velocity (w) Control() : u(0), w(0) {} }; class Path { public: double x, y; // position (x, y) Path() : x(0), y(0) {} }; using namespace std; class ParticleSystem { public: ParticleSystem(unsigned int N) : N(N) { p.resize(N); c.resize(N); } void Simulate(double dt) { for (int i=0; i<N; i++) { p[i].x += dt * cos(p[i].theta) * p[i].v; p[i].y += dt * sin(p[i].theta) * p[i].v; p[i].theta += dt * p[i].w; } } void output() { for (int i=0; i<N; i++) { cout << "p " << i << ": x, y, theta = " << p[i].x << ", " << p[i].y << ", " << p[i].theta << endl; } } private: vector<Particle> p; }; #define N 2 for (int i=0; i<N; i++) { x,y, theta, v, w = 0, 0, 0, 0, 0 particle = new Particle } int main() { ParticleSystem system(N); return 0; } #include <iostream> #include <math.h> using namespace std; class PID { public: PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { check = 0; } double calculate(double inp, double T) { if (check == 0) { output = 0; } else { output = Kp * (inp - outp) + Ki * (inp - outp) * T + Kd * pow(inp - outp, 2) / T; } check=0; return output; } private: double Kp, Ki, Kd; double output, outp; int check; }; int main() { PID pid(1,0.01,0.2); return 0; } class PID{ public: PID(double Kp, double Ki, double Kd) : Kp(K), Ki(k), Kd(k) { output = 0; } PID(double inp, double T) : input(inp) , T(T) { calculate(inp, T); } double calculate(double inp, double T) { output = Kp * inp + Ki*inp * T + Kd * pow(inp, 2) / T; return output; } private: double Kp, Ki, Kd; double output, input, T; }; using namespace std; class PID{ public: PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { output = 0; } PID(double inp, double T) : input(inp) , T(T) { calculate(inp, T); } double calculate(double inp, double T) { output = Kp * inp + Ki*inp * T + Kd * pow(inp, 2) / T; return output; } private: double Kp, Ki, Kd; double output, input, T; }; int main() { PID pid(2, 1.6, 0.2); pid.calculate(1, 5); return 0; } public PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(K) { output = 0; } class PID { public: PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { output = 0; } PID(double inp, double T) : input(inp) , T(T) { calculate(inp, T); } double calculate(double inp, double T) { output = Kp * inp + Ki*inp * T + Kd * pow(inp, 2) / T; return output; } private: double Kp, Ki, Kd; double output, input, T; }; class PID { public: PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { output = 0; } PID(double inp, double T) : input(inp) , T(T) { calculate(inp, T); } double calculate(double inp, double T) { output = Kp * inp + Ki*inp * T + Kd * pow(inp, 2) / T; return output; } private: double K, Ki, Kd; double output, input, T; }; PID pid(2, 1.6, 0.2); pid.calculate(1, 5); #include <iostream> #include <math.h> using namespace std; Inputs to actor ƒ1 are x true data, y_train, x_test, y_test from ai.get_ai import audience_analysis from d.dai import dc class PID { public: PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { output = 0; } PID double<variable> : inp double(input of) double T) : input(inp) , T(T) { calculate(inp, T); } PID double double calculate(double inp, T) { output = Kp * inp + Ki*inp * T + Kd * pow(inp, 2) / T; return output; } private: double Kp, Ki, Kd; double output, input, T; }; PID pid(2, 1.6, 0.2); pid.calculate(1, 5); map_clone() constructor, new class PID public PID(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { output = 0; } template <class T> PID basic PID::PID<T>(double Kp, double Ki, double Kd) : Kp(Kp), Ki(Ki), Kd(Kd) { output= 0; } // Pathing data is managed by reading a similarily formated file where it's loaded into the pure map (node potential) and it returns the path of postion (node) ParticleSystem::ParticleSystem(unsigned int N) : N(N) { p.resize(N); c.resize(N); } void Simulate(double dt) { for (int i=0; i<N; i++) { p[i].x += dt * cos(p[i].theta) * p[i.v]; p[i].y += dt * sin(p[i].theta) * p[i.v]; p[i].theta += dt * p[i].w; } } double getState(1) { return p[A].state; } #include<iostream> #include iostream #include <math.h> using namespace std; double getPos() { return state.head(); } class pid { public: double Kp, Ki, Kd; PID(double Kp, double Ki, double K) : Kp(Kp), Ki(Ki), Kd(Kd) { output= 0; } PID(double input, double T) : input(input), T(T) { calculate(input, T); } double calculate(double inp, double T) { output= Kp * inp + Ki*inp * T + Kd * pow(inp, 2) / T; return output; } private: double Kp, Ki, Kd; double output, input, T; int main() {< PID(a, b, c) ;} ]) PID pid(2, 1.6, 0.2); pid.calculate(1, 5); #include<iostream> #include iostream #include <math.h> double main() { return 0; }x

2019年11月25日64 分钟