网站制作 网站建设 杭州,北京网站优化对策,网站制作公司 信科网络,wordpress字体不能换行写在前面
最近项目一直用matlab#xff0c;防止手生整一个回忆工具使用的简单的pid demo#xff0c;走一边流程#xff0c;包括配工程debug看结果#xff0c;复用之前记录的配置见我的bloghttps://blog.csdn.net/weixin_46479223/article/details/135082867?csdn_share_t…写在前面
最近项目一直用matlab防止手生整一个回忆工具使用的简单的pid demo走一边流程包括配工程debug看结果复用之前记录的配置见我的bloghttps://blog.csdn.net/weixin_46479223/article/details/135082867?csdn_share_tail%7B%22type%22%3A%22blog%22%2C%22rType%22%3A%22article%22%2C%22rId%22%3A%22135082867%22%2C%22source%22%3A%22weixin_46479223%22%7D。visual studio在这方面感觉比vscode 方便不少
使用说明不基于内容是什么主要是配置好基本内容可以快速编译打印验证或者配置visualstudio单个文件的话可以使用在线ide页面https://godbolt.org/
结构 cmakelist
cmake_minimum_required(VERSION 3.14.1)
project(project_PIDControllerDemo)
set( CMAKE_CXX_STANDARD 11 )
set( CMAKE_CXX_STANDARD_REQUIRED ON )
set( THREADS_PREFER_PTHREAD_FLAG ON )function(include_sub_directories_recursively root_dir)if (IS_DIRECTORY ${root_dir})include_directories(${root_dir})file(GLOB children RELATIVE ${root_dir} ${root_dir}/*)foreach(child ${children})if (IS_DIRECTORY ${root_dir}/${child})include_sub_directories_recursively(${root_dir}/${child})endif()endforeach()endif()
endfunction()function(aux_source_directory_recursively root_dir var_name)if(IS_DIRECTORY ${root_dir})aux_source_directory(${root_dir} TMP_SRC_LIST)set(${var_name} ${${var_name}} ${TMP_SRC_LIST} PARENT_SCOPE)file(GLOB children RELATIVE ${root_dir} ${root_dir}/*)foreach(child ${children})if(IS_DIRECTORY ${root_dir}/${child})aux_source_directory_recursively(${root_dir}/${child} ${var_name}) endif()endforeach()endif()
endfunction()find_package(glog REQUIRED)
find_package(Eigen3 REQUIRED)
#find_package(osqp REQUIRED )
find_package(OsqpEigen REQUIRED)
find_package(yaml-cpp REQUIRED)Set(GLOG_INCLUDE_DIRS /usr/include/glog/)
Set(GLOG_LIBRARIES /usr/lib/x86_64-linux-gnu/libglog.so)
#Set(GLOG_LIBRARIES /usr/local/lib/libglog.so)# message(STATUS GLOG_INCLUDE_DIRS: ${GLOG_INCLUDE_DIR})
# message(STATUS GLOG_LIBRARIES: ${GLOG_LIBRARIES})
# message(STATUS EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR})
# message(STATUS EIGEN3_LIBRARIES: ${EIGEN3_LIBRARIES})
# message(STATUS osqp_INCLUDE_DIR: ${osqp_INCLUDE_DIR})
# message(STATUS osqp_LIBRARIES: ${osqp_LIBRARIES})set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_INCLUDE_CURRENT_DIR ON)# aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SRC_LIST)aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/src/. SRC_LIST)aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/commen/. SRC_LIST)#aux_source_directory_recursively(${CMAKE_CURRENT_SOURCE_DIR}/src SRC_LIST)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/include)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/libs)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/src)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/inc)##############################debug start##############################
get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)foreach(dir ${include_dirs})message(Include directory: ${dir})
endforeach()message(Source files:)
foreach(file IN LISTS SRC_LIST)message( ${file})
endforeach()
#################################debug end####################################include_directories(${GLOG_INCLUDE_DIRS})
include_directories(${EIGEN3_INCLUDE_DIR})add_executable(${PROJECT_NAME} ${SRC_LIST})
#add_library(${PROJECT_NAME} STATIC ${SRC_LIST}) # temp use
target_include_directories(${PROJECT_NAME} PRIVATE ${GLOG_INCLUDE_DIRS})
#target_include_directories(${PROJECT_NAME} PRIVATE ${OSQP_INCLUDE_DIRS})
#target_link_libraries(${PROJECT_NAME} OsqpEigen::OsqpEigen)
target_link_libraries(${PROJECT_NAME} PRIVATE ${GLOG_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PRIVATE ${EIGEN3_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PRIVATE yaml-cpp)# link_directories(${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cpp/)# for all
# target_link_libraries(${PROJECT_NAME} PRIVATE libyaml-cpp.a)
#target_link_libraries(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cD/libyaml-cD.a)
#target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqp)
#####################################unit test ###################################
# add_executable(unit_test_pathFW ${SRC_LIST})
# target_link_libraries( unit_test_pathFW
# ${GLOG_LIBRARIES}
# # ${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cD/libyaml-cD.a
# ${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cD/libyaml-cD.a
# # yaml-cD
# )
#####################################unit test end#################################c_cpp_properties.json
{configurations: [{name: Linux,includePath: [${workspaceFolder}/**,${workspaceFolder}/inc,/usr/include/**],defines: [],compilerPath: /usr/bin/gcc,cStandard: c17,cppStandard: gnu14,intelliSenseMode: linux-gcc-x64}],version: 4
}launch.json
{// 使用 IntelliSense 了解相关属性。 // 悬停以查看现有属性的描述。// 欲了解更多信息请访问: https://go.microsoft.com/fwlink/?linkid830387version: 0.2.0,configurations: [{name: (gdb) 启动,type: cppdbg,request: launch,program: ${workspaceFolder}/build/project_PIDControllerDemo,args: [],stopAtEntry: false,cwd: ${fileDirname},environment: [],externalConsole: false,MIMode: gdb,setupCommands: [{description: 为 gdb 启用整齐打印,text: -enable-pretty-printing,ignoreFailures: true},{description: 将反汇编风格设置为 Intel,text: -gdb-set disassembly-flavor intel,ignoreFailures: true}]}]
}
pid.h # ifndef _PID_H_
# define _PID_H_#include cmath
#include algorithm# define RUNCYCLE 0.02class PID{public:PID(): ki_(0), kp_(0), kd_(0){}PID(const float KI,const float KP,const float KD): ki_( KI), kp_( KP)
, kd_(KD){}PID(const PID pid)delete;~PID(){}void updatePos();void calError(const float targetPos);float getRes();private:float ki_ ;float kp_;float kd_;float error_ {0.f};float pos_ {0.f}; float res_ {0.f};
};# endifpid.cc
#include pid.husing namespace std;void PID:: calError( const float targetPos ){float error_i0.f,error_d0.f,error_p0.f; static float error_last0;error_ptargetPos-pos_;error_iRUNCYCLE*error_p;error_d(error_p-error_last)/RUNCYCLE;if (error_p*error_p0){error_i0;}error_imin(error_i,3.f);error_imax(error_i,-3.f);error_lasterror_p;res_ ki_*error_ikp_*error_pkd_*error_d;}void PID:: updatePos(){pos_res_*RUNCYCLE;}float PID:: getRes(){return pos_;}main.cc
# include pid.h
#include glog/logging.hint main(int argc, char* argv[]){google::InitGoogleLogging(argv[0]);google::SetStderrLogging(google::GLOG_ERROR); FLAGS_colorlogtostderr true;FLAGS_logtostderr true; FLAGS_minloglevel 0; PID pidUser (0.3f,1.f,0.5f); // user defined parametersint Target10; // user definedint count0; // counter LOG(INFO) Hello,myPID;while (fabs(Target-pidUser.getRes())0.1count1000){pidUser.calError(Target);pidUser.updatePos();count;LOG(INFO) Target: Target Current pos: pidUser.getRes();}LOG(INFO) End at count Times; google::ShutdownGoogleLogging();
}结果 用重定向 放入excel中画图展示如下
如果练习使用的电脑 只有gcc 没有cmake的话临时练习方案
对于我的项目在项目主文件夹下 使用gcc ./src/main.cc ./src/pid.cc -I./inc -o Test
以下扩展来自于gpt Q如果想使用eigen库 和osqp库 用cpp14标准 编译模式为debug 编译结果为动态库或者静态库 该怎么设置比如在gcc ./src/main.cc ./src/pid.cc -I./inc -o Test 扩展该怎么做 而不是使用cmakelist A如下
# 编译并生成可执行文件
gcc ./src/main.cc ./src/pid.cc -I./inc -o Test -stdc14 -g -lYourOSQPLibrary -lYourEigenLibrary# 或者编译并生成动态库
gcc -shared -fPIC ./src/main.cc ./src/pid.cc -I./inc -o libYourLibraryName.so -stdc14 -g -lYourOSQPLibrary -lYourEigenLibrary或者编译并生成静态库
gcc -c ./src/main.cc ./src/pid.cc -I./inc -o YourObjectFile.o -stdc14 -g
ar rcs libYourLibraryName.a YourObjectFile.o等效于cmakelist如下
cmake_minimum_required(VERSION 3.10)project(YourProjectName)# 设置 C 标准
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)# 查找 Eigen 库
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})# 查找 OSQP 库
find_package(osqp REQUIRED)
include_directories(${OSQP_INCLUDE_DIRS})# 设置编译模式为 Debug
set(CMAKE_BUILD_TYPE Debug)# 生成动态库
add_library(YourLibraryName SHAREDsrc/your_source_file1.cppsrc/your_source_file2.cpp# 添加其他源文件
)# 或者生成静态库
# add_library(YourLibraryName STATIC
# src/your_source_file1.cpp
# src/your_source_file2.cpp
# # 添加其他源文件
# )# 链接 OSQP 和其他可能的库例如 Eigen
target_link_libraries(YourLibraryName ${OSQP_LIBRARIES} Eigen3::Eigen)# 可执行文件示例
add_executable(YourExecutableNamesrc/main.cpp# 添加其他源文件
)# 链接生成的库
target_link_libraries(YourExecutableName YourLibraryName)
