{"rsdb":{"rid":"158453","subhead":"","postdate":"0","aid":"118821","fid":"49","uid":"1","topic":"1","content":"
\n \u6a21\u677f\u662fC++<\/a>\u652f\u6301\u53c2\u6570\u5316\u591a\u6001\u7684\u5de5\u5177\uff0c\u4f7f\u7528\u6a21\u677f\u53ef\u4ee5\u4f7f\u7528\u6237\u4e3a\u7c7b\u6216\u8005\u51fd\u6570\u58f0\u660e\u4e00\u79cd\u4e00\u822c\u6a21\u5f0f\uff0c\u4f7f\u5f97\u7c7b\u4e2d\u7684\u67d0\u4e9b\u6570\u636e\u6210\u5458\u6216\u8005\u6210\u5458\u51fd\u6570\u7684\u53c2\u6570\u3001\u8fd4\u56de\u503c\u53d6\u5f97\u4efb\u610f\u7c7b\u578b\u3002\n
\u6a21\u677f\u662f\u4e00\u79cd\u5bf9\u7c7b\u578b\u8fdb\u884c\u53c2\u6570\u5316\u7684\u5de5\u5177\uff1b\n
\u3000\u3000\u901a\u5e38\u6709\u4e24\u79cd\u5f62\u5f0f\uff1a\u51fd\u6570\u6a21\u677f\u548c\u7c7b\u6a21\u677f\uff1b\n
\u3000\u3000\u51fd\u6570\u6a21\u677f\u9488\u5bf9\u4ec5\u53c2\u6570\u7c7b\u578b\u4e0d\u540c\u7684\u51fd\u6570\uff1b\n
\u7c7b\u6a21\u677f\u9488\u5bf9\u4ec5\u6570\u636e\u6210\u5458\u548c\u6210\u5458\u51fd\u6570\u7c7b\u578b\u4e0d\u540c\u7684\u7c7b\u3002\n
\n
\n
\u4f7f\u7528\u6a21\u677f\u7684\u76ee\u7684\u5c31\u662f\u80fd\u591f\u8ba9\u7a0b\u5e8f\u5458\u7f16\u5199\u4e0e\u7c7b\u578b\u65e0\u5173\u7684\u4ee3\u7801\u3002\u5047\u5b9a\u6211\u4eec\u5e0c\u671b\u7f16\u5199\u4e00\u4e2a\u51fd\u6570\u6765\u6bd4\u8f83\u4e24\u4e2a\u503c\uff0c\u5e76\u6307\u51fa\u7b2c\u4e00\u4e2a\u503c\u662f\u5c0f\u4e8e\u3001\u7b49\u4e8e\u8fd8\u662f\u5927\u4e8e\u7b2c\u4e8c\u4e2a\u503c\u3002\u5728\u5b9e\u9645\u4e2d\uff0c\u6211\u4eec\u53ef\u80fd\u60f3\u8981\u5b9a\u4e49\u591a\u4e2a\u51fd\u6570\uff0c\u6bcf\u4e2a\u51fd\u6570\u6bd4\u8f83\u4e00\u79cd\u7ed9\u5b9a\u7c7b\u578b\u7684\u503c\u3002\n
\n

\u6ce8\u610f\uff1a\u6a21\u677f\u7684\u58f0\u660e\u6216\u5b9a\u4e49\u53ea\u80fd\u5728\u5168\u5c40\uff0c\u547d\u540d\u7a7a\u95f4\u6216\u7c7b\u8303\u56f4\u5185\u8fdb\u884c\u3002\u5373\u4e0d\u80fd\u5728\u5c40\u90e8\u8303\u56f4\uff0c\u51fd\u6570\u5185\u8fdb\u884c\uff0c\u6bd4\u5982\u4e0d\u80fd\u5728main\u51fd\u6570\u4e2d\u58f0\u660e\u6216\u5b9a\u4e49\u4e00\u4e2a\u6a21\u677f\u3002<\/p> \n

1\u3001\u51fd\u6570\u6a21\u677f\u7684\u683c\u5f0f\uff1a<\/strong><\/p> \n

template\n \n \u8fd4\u56de\u7c7b\u578b\u51fd\u6570\u540d(\u53c2\u6570\u5217\u8868)\n <\/class\u5f62\u53c2\u540d\uff0cclass\u5f62\u53c2\u540d\uff0c......><\/strong><\/p> \n

{<\/strong><\/p> \n

\u3000\u3000\u3000\u3000\u3000\u3000\u51fd\u6570\u4f53<\/strong><\/p> \n

}<\/strong><\/p> \n

\u6a21\u677f\u5b9a\u4e49\u4ee5\u5173\u952e\u5b57template\u5f00\u59cb\uff0c\u540e\u8ddf\u4e00\u4e2a\u6a21\u677f\u53c2\u6570\u5217\u8868\uff0c\u8fd9\u662f\u4e00\u4e2a\u9017\u53f7\u5206\u9694\u7684\u4e00\u4e2a\u6216\u591a\u4e2a\u6a21\u677f\u7684\u5217\u8868\uff0c\u7528< >\u5305\u56f4\u8d77\u6765\u3002class<\/strong>\u53ef\u4ee5\u7528typename<\/strong>\u5173\u89c1\u5b57\u4ee3\u66ff\uff0c\u5728\u8fd9\u91cctypename\u548cclass\u6ca1\u533a\u522b<\/strong>\uff0c<>\u62ec\u53f7\u4e2d\u7684\u53c2\u6570\u53eb\u6a21\u677f\u5f62\u53c2<\/strong>\uff0c\u6a21\u677f\u5f62\u53c2\u548c\u51fd\u6570\u5f62\u53c2\u5f88\u76f8\u50cf\uff0c\u6a21\u677f\u5f62\u53c2\u4e0d\u80fd\u4e3a\u7a7a\u3002<\/strong><\/p> \n

\u6ce8\u610f\uff1a\u5bf9\u4e8e\u51fd\u6570\u6a21\u677f\u800c\u8a00\u4e0d\u5b58\u5728h(int,int)<\/strong>\u8fd9\u6837\u7684\u8c03\u7528\uff0c\u4e0d\u80fd\u5728\u51fd\u6570\u8c03\u7528\u7684\u53c2\u6570\u4e2d\u6307\u5b9a\u6a21\u677f\u5f62\u53c2\u7684\u7c7b\u578b\uff0c\u5bf9\u51fd\u6570\u6a21\u677f\u7684\u8c03\u7528\u5e94\u4f7f\u7528\u5b9e\u53c2\u63a8\u6f14\u6765\u8fdb\u884c<\/strong>\uff0c\u5373\u53ea\u80fd\u8fdb\u884ch(2,3)<\/strong>\u8fd9\u6837\u7684\u8c03\u7528\uff0c\u6216\u8005int a, b; h(a,b)<\/strong>\u3002<\/p> \n

2\u3001\u7c7b\u6a21\u677f\u7684\u683c\u5f0f\u4e3a\uff1a<\/p> \n

template\n \n class\u7c7b\u540d\n <\/class\u5f62\u53c2\u540d\uff0cclass\u5f62\u53c2\u540d\uff0c\u2026><\/strong><\/p> \n

{... };<\/strong><\/p> \n

\u7c7b\u6a21\u677f\u548c\u51fd\u6570\u6a21\u677f\u90fd\u662f\u4ee5template<\/strong>\u5f00\u59cb\u540e\u63a5\u6a21\u677f\u5f62\u53c2\u5217\u8868\u7ec4\u6210\uff0c\u6a21\u677f\u5f62\u53c2\u4e0d\u80fd\u4e3a\u7a7a\uff0c\u4e00\u4f46\u58f0\u660e\u4e86\u7c7b\u6a21\u677f\u5c31\u53ef\u4ee5\u7528\u7c7b\u6a21\u677f\u7684\u5f62\u53c2\u540d\u58f0\u660e\u7c7b\u4e2d\u7684\u6210\u5458\u53d8\u91cf\u548c\u6210\u5458\u51fd\u6570\uff0c\u5373\u53ef\u4ee5\u5728\u7c7b\u4e2d\u4f7f\u7528\u5185\u7f6e\u7c7b\u578b\u7684\u5730\u65b9\u90fd\u53ef\u4ee5\u4f7f\u7528\u6a21\u677f\u5f62\u53c2\u540d\u6765\u58f0\u660e\u3002<\/strong><\/p> \n

\u5982\u4f55\u6839\u636e\u6a21\u677f\u4e2d\u6570\u636e\u7c7b\u578b\u505a\u5bf9\u5e94\u64cd\u4f5c\uff1f<\/h1> \n

<\/p>\n

\u8bfb\u53d6.txt\u6587\u4ef6\u4e2d\u4fdd\u5b58\u7684Inertial measurement units (IMU)\u6570\u636e\uff0c\u5e76\u6839\u636e\u6a21\u7248\u4e2d\u6570\u636e\u7c7b\u578b\u505a\u5bf9\u5e94\u64cd\u4f5c\u3002\u8fd9\u91cc\u5b58\u50a8\u4e86Gyroscope\u3001Accelerometer\u548cMagnetometer\u4f20\u611f\u5668\u7684\u6570\u636e\uff0c\u8fd8\u4fdd\u5b58\u4e86\u91c7\u6837\u65f6\u95f4\u7684\u6570\u636e\u3002\u600e\u4e48\u4f7f\u7528\u6a21\u677f\u6765\u8bfb\u53d6\u8fd9\u4e9b\u5b58\u50a8\u5728txt\u6587\u4ef6\u4e2d\u7684\u6570\u636e\uff1f<\/p> \n 

\r\n\/\/sensor\u6570\u636e\u683c\u5f0f\uff0c\u6bcf\u4e2asensor\u5bf9\u5e94\u4e09\u4e2a\u503c\r\nstruct FORMAT\r\n{\r\n\tdouble x;\r\n\tdouble y;\r\n\tdouble z;\r\n};\r\n\r\n\/\/AHRS\u8bb0\u5f55\u7684\u6570\u636e\r\nstruct GYRODATA\r\n{\r\n\tvector\n  \n    gyroscopeData;\/\/\u9640\u87ba\u4eea\r\n\tvector\n   \n     accelerometerData;\/\/\u52a0\u901f\u5ea6\u8ba1 vector\n    \n      magnetometerData;\/\/\u7535\u5b50\u7f57\u76d8 vector\n     \n       timeData; }; \/\/\u6839\u636e\u6a21\u7248\u4e2d\u6570\u636e\u7c7b\u578b\u505a\u5bf9\u5e94\u64cd\u4f5c template \n      \n        struct Type2Type { typedef T type; }; template \n       \n         inline void sscanfData(const char* buf,T& tempData,Type2Type\n        \n         ) { sscanf(buf,"%lf",&tempData); } template \n         \n           inline void sscanfData(const char* buf,T& tempData,Type2Type\n          \n           ) { sscanf(buf,"%lf %lf %lf",&tempData.x,&tempData.y,&tempData.z); } \/\/\u83b7\u53d6\u6570\u636e template \n           \n             void getDatafromTxt(const string filename,vector\n            \n             & vecData) { char buf[1024]; \/\/\u4e34\u65f6\u4fdd\u5b58\u8bfb\u53d6\u51fa\u6765\u7684\u6587\u4ef6\u5185\u5bb9 string message; ifstream infile; infile.open(filename); if(infile.is_open()) \/\/\u6587\u4ef6\u6253\u5f00\u6210\u529f,\u8bf4\u660e\u66fe\u7ecf\u5199\u5165\u8fc7\u4e1c\u897f { while(infile.good() && !infile.eof()) { memset(buf,0,1024); infile.getline(buf,1024); T tempData; sscanfData(buf,tempData,Type2Type\n             \n              ());\/\/\u6839\u636e\u6a21\u7248\u4e2d\u6570\u636e\u7c7b\u578b\u505a\u5bf9\u5e94\u64cd\u4f5c \/\/sscanf(buf,"%lf %lf %lf",&tempData.x,&tempData.y,&tempData.z); vecData.push_back(tempData); } infile.close(); } else cout<<"file open failed..."<\n               \n              <\/endl;>\n             <\/t>\n            <\/t>\n           <\/class>\n          <\/format>\n         <\/typename>\n        <\/double>\n       <\/typename>\n      <\/typename>\n     <\/double>\n    <\/format>\n   <\/format>\n  <\/format><\/pre> \n 
<\/p> \n 
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