cmake_minimum_required(VERSION 2.8.3)
project(mpc_test_pkg)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
LINK_DIRECTORIES(/usr/local/lib)
ADD_DEFINITIONS(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES mpc_test_pkg
CATKIN_DEPENDS roscpp std_msgs message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
/home/lizhousu/dev/mpc_ws/src/mpc_test_pkg/include/
/usr/include/eigen3
/usr/include/
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/mpc_test_pkg.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/mpc_test_pkg_node.cpp)
add_executable(mpc_test_node src/mpc_test_node.cpp src/traj_generate.cpp src/mpc_control.cpp src/sim_locate.cpp src/mpc_config.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(mpc_test_node mpc_test_pkg_generate_message_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(mpc_test_node
${catkin_LIBRARIES}
libqpOASES.a
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mpc_test_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
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C++基于mpc算法实现的对圆形轨迹与直线轨迹的跟踪源码.zip
共24个文件
cpp:6个
bin:5个
h:4个
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C++基于mpc算法实现的对圆形轨迹与直线轨迹的跟踪源码.zip 利用mpc算法实现的对圆形轨迹与直线轨迹的跟踪。 C++基于mpc算法实现的对圆形轨迹与直线轨迹的跟踪源码.zip 利用mpc算法实现的对圆形轨迹与直线轨迹的跟踪。 C++基于mpc算法实现的对圆形轨迹与直线轨迹的跟踪源码.zip 利用mpc算法实现的对圆形轨迹与直线轨迹的跟踪。 【备注】 该项目是个人毕设项目,答辩评审分达到95分,代码都经过调试测试,确保可以运行!欢迎下载使用,可用于小白学习、进阶。 该资源主要针对计算机、通信、人工智能、自动化等相关专业的学生、老师或从业者下载使用,亦可作为期末课程设计、课程大作业、毕业设计等。 项目整体具有较高的学习借鉴价值!基础能力强的可以在此基础上修改调整,以实现不同的功能。
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收起资源包目录
C++基于mpc算法实现的对圆形轨迹与直线轨迹的跟踪源码.zip (24个子文件)
include
mpc_test_pkg
traj_generate.h 576B
mpc_config.h 1KB
mpc_control.h 6KB
sim_locate.h 1KB
CMakeLists.txt 7KB
.vscode
ipch
7d3176f52a512c2a
mmap_address.bin 8B
594bc53088c6fe1a
mmap_address.bin 8B
20fb5223c5242cf5
sim_locate_test.ipch 77.48MB
mmap_address.bin 8B
2d6ad6585a3c5583
mmap_address.bin 8B
be3ea9c0d6f6800e
mmap_address.bin 8B
settings.json 266B
说明.md 67B
doc
xmind_mpc_test_pkg.xmind 74KB
src
traj_generate.cpp 2KB
sim_locate_test.cpp 1KB
mpc_config.cpp 1KB
sim_locate.cpp 1KB
mpc_test_node.cpp 4KB
mpc_control.cpp 16KB
package.xml 3KB
launch
mpc_test.launch 306B
mpc_test_rviz_v1.rviz 5KB
cfg
mpc_param.yaml 318B
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