From 97b3178bfe938da85e6945b26268c160b6a9f17f Mon Sep 17 00:00:00 2001 From: wangjie <1020785391@qq.com> Date: Sun, 24 Apr 2022 17:17:58 +0800 Subject: [PATCH 1/6] =?UTF-8?q?=E8=A7=A3=E5=86=B3slt=E5=9B=BE=E4=B8=8B?= =?UTF-8?q?=E6=96=B9=E6=8C=89=E9=92=AE=E5=8A=A0=E8=BD=BD=E5=8D=A1=E9=A1=BF?= =?UTF-8?q?=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- chart_plugin/src/curve_display.cpp | 4 +- chart_plugin/src/slt_space/slt_space_data.cpp | 74 ++++++++++--------- chart_plugin/src/slt_space/slt_space_data.h | 37 +++++++--- chart_plugin/src/slt_space_display.cpp | 2 +- chart_plugin/src/st_space/st_space_data.cpp | 67 +++++++++-------- chart_plugin/src/st_space/st_space_data.h | 35 +++++++-- chart_plugin/src/st_space_display.cpp | 4 +- 7 files changed, 138 insertions(+), 85 deletions(-) diff --git a/chart_plugin/src/curve_display.cpp b/chart_plugin/src/curve_display.cpp index e9b0fb7..8366e50 100755 --- a/chart_plugin/src/curve_display.cpp +++ b/chart_plugin/src/curve_display.cpp @@ -32,7 +32,7 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include #include - +#include #include "common/utils.h" @@ -312,6 +312,8 @@ void CurveDisplay::InitQwtPlotStyle() } ui.qwtPlot->replot(); }); + legend->horizontalScrollBar()->setPalette(QPalette()); + legend->verticalScrollBar()->setPalette(QPalette()); } // 绘制网格 diff --git a/chart_plugin/src/slt_space/slt_space_data.cpp b/chart_plugin/src/slt_space/slt_space_data.cpp index e7e49e8..e821b55 100755 --- a/chart_plugin/src/slt_space/slt_space_data.cpp +++ b/chart_plugin/src/slt_space/slt_space_data.cpp @@ -29,6 +29,7 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. namespace chart_plugin { using std::vector; +uint32_t SltObject::id = 0; bool SltSpaceData::SetCurveData(const vector &pointVector, vector *mglPointVector) const { @@ -73,9 +74,12 @@ void SltSpaceData::SetObjectsFaceData(const vector &pointVecto int32_t type = point.type; QString id = QString::fromStdString(point.id); listId.push_back(id); - if (!QueueHaveId(id)) { - LimitQueueNumber(listId); - objectsIdVisibleQueue.enqueue(QPair(id, true)); + if (!idIdMap.contains(id)) { + LimitObjectsNumber(listId); + LimitIdSize(); + QSharedPointer object = QSharedPointer(new SltObject(id)); + idObjectMap.insert(object->sltObjectId, object); + idIdMap.insert(id, object->sltObjectId); } if (!objectsMap.contains(id)) { @@ -119,29 +123,20 @@ const QMap &SltSpaceData::GetObjectsTypeIdMap() const void SltSpaceData::SetObjectVisible(const QString &id, bool isVisible) { - for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) { - if (iter->first == id) { - iter->second = isVisible; - return; - } - } - - objectsIdVisibleQueue.enqueue(QPair(id, isVisible)); + QString sltObjectId = idIdMap.value(id); + idObjectMap.value(sltObjectId)->isVisible = isVisible; } bool SltSpaceData::GetObjectVisible(const QString &id) const { - for (auto pair : objectsIdVisibleQueue) { - if (pair.first == id) { - return pair.second; - } - } - return true; + QString sltObjectId = idIdMap.value(id); + return idObjectMap.value(sltObjectId)->isVisible; } void SltSpaceData::Clear() { - objectsIdVisibleQueue.clear(); + idObjectMap.clear(); + idIdMap.clear(); optimizedSltTrack.clear(); sltSpeedLimit.clear(); @@ -167,28 +162,39 @@ bool SltSpaceData::Add(const custom::SltSpace::ConstPtr &msg) return false; } -bool SltSpaceData::QueueHaveId(const QString &id) -{ - for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) { - if (iter->first == id) { - return true; - } - } - return false; -} - -void SltSpaceData::LimitQueueNumber(const QStringList &listId) +void SltSpaceData::LimitObjectsNumber(const QStringList &listId) { - int32_t queueMaxNumber = 1000; - if (objectsIdVisibleQueue.count() < queueMaxNumber) { + int32_t objectsMaxNumber = 1000; + if (idObjectMap.count() < objectsMaxNumber) { return; } - for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) { - if (!listId.contains(iter->first)) { - objectsIdVisibleQueue.erase(iter); + for (auto iter = idObjectMap.begin(); iter != idObjectMap.end(); iter++) { + if (!listId.contains(iter.key())) { + idIdMap.remove(iter.value()->objectId); + idObjectMap.erase(iter); return; } } } + +void SltSpaceData::LimitIdSize() +{ + // 4294967295:uint32_t 取值范围0~4294967295 + if (SltObject::id < 4294967295) { + return; + } + + QMap> map; + auto objects = idObjectMap.values(); + for (int32_t i = 0; i < object.count(); i++) { + auto object = objects.at(i); + object->setId(i); + map.insert(QString::number(i), object); + idIdMap[object->objectId] = QString::number(i); + } + idObjectMap.clear(); + idObjectMap.swap(map); +} + } // namespace chart_plugin diff --git a/chart_plugin/src/slt_space/slt_space_data.h b/chart_plugin/src/slt_space/slt_space_data.h index 214bcaa..eb0cdb8 100755 --- a/chart_plugin/src/slt_space/slt_space_data.h +++ b/chart_plugin/src/slt_space/slt_space_data.h @@ -28,14 +28,32 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #define SLT_SPACE_DATA_H #include -#include -#include +#include #include #include "custom/SltSpace.h" namespace chart_plugin { +class SltObject { +public: + SltObject(const QString &objectId) { + this->objectId = objectId; + this->sltObjectId = QString::number(id++); + }; + ~SltObject(){}; + + void setId(int32_t id) { + this->id = id; + this->sltObjectId = QString::number(this->id++); + } + + QString sltObjectId; // 程序生成的id + QString objectId; // 数据包传入的id + bool isVisible { true }; // 是否可见 + static uint32_t id; // id +}; + class SltSpaceData { public: SltSpaceData() = default; @@ -139,20 +157,20 @@ private: std::vector CreateObjectIdData(const custom::SltPoint &point); /* - * 功能：查询objectsIdVisibleQueue队列是否有id数据 - * 输入参数：id-障碍物id属性 + * 功能：设置idObjectMap上限 + * 输入参数：listId-障碍物链表 * 输出参数：无 * 返回值：无 */ - bool QueueHaveId(const QString &id); + void LimitObjectsNumber(const QStringList &listId); /* - * 功能：设置objectsIdVisibleQueue队列上限 - * 输入参数：listId-障碍物链表 + * 功能：设置id大小上限 + * 输入参数：无 * 输出参数：无 * 返回值：无 */ - void LimitQueueNumber(const QStringList &listId); + void LimitIdSize(); private: std::vector optimizedSltTrack {}; @@ -162,7 +180,8 @@ private: QMap objectsIdTypeMap {}; QMap objectsTypeIdMap {}; - QQueue> objectsIdVisibleQueue {}; + QMap> idObjectMap {}; //sltObjectId(程序生成的id),object + QMap idIdMap {}; // objectId(topic读取的id), sltObjectId(程序生成的id) }; } // namespace chart_plugin diff --git a/chart_plugin/src/slt_space_display.cpp b/chart_plugin/src/slt_space_display.cpp index 28e6638..986551d 100755 --- a/chart_plugin/src/slt_space_display.cpp +++ b/chart_plugin/src/slt_space_display.cpp @@ -344,11 +344,11 @@ void SltSpaceDisplay::CreateObjectsLegend(const QMap &objectsI buttonLegend->setObjectName(QString("Type %1: %2").arg(objectType).arg(objectId)); buttonLegend->setIcon(GenerateLegendIcon(GetObjectsTypeColor(objectType), LegendType::OBJECT)); buttonLegend->setCheckable(true); + buttonLegend->setChecked(sltSpaceData.GetObjectVisible(objectId)); buttonLegend->setText( QString("%1: %2").arg(objectsTypeTitlePropertyMap[objectType]->getString()).arg(objectId)); QObject::connect(buttonLegend.get(), SIGNAL(toggled(bool)), this, SLOT(UpdateMathglDraw())); objectsIdLegendMap.insert(std::make_pair(objectId, std::move(buttonLegend))); - objectsIdLegendMap[objectId]->setChecked(sltSpaceData.GetObjectVisible(objectId)); } } diff --git a/chart_plugin/src/st_space/st_space_data.cpp b/chart_plugin/src/st_space/st_space_data.cpp index 42c7ba3..783d4d4 100755 --- a/chart_plugin/src/st_space/st_space_data.cpp +++ b/chart_plugin/src/st_space/st_space_data.cpp @@ -28,6 +28,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. namespace chart_plugin { using std::vector; +uint32_t StObject::id = 0; bool StSpaceData::SetCurveData(const vector &pointVector, QPolygonF *qPolygonF) const { @@ -66,9 +67,12 @@ void StSpaceData::SetObjectsCurveData(const vector &pointVector QString id = QString::fromStdString(point.id); listId.push_back(id); - if (!QueueHaveId(id)) { - LimitQueueNumber(listId); - objectsIdVisibleQueue.enqueue(QPair(id, true)); + if (!idIdMap.contains(id)) { + LimitObjectsNumber(listId); + LimitIdSize(); + QSharedPointer object = QSharedPointer(new StObject(id)); + idObjectMap.insert(object->stObjectId, object); + idIdMap.insert(id, object->stObjectId); } if (!objectsMap.contains(id)) { @@ -119,29 +123,20 @@ const QMap &StSpaceData::GetObjectsTypeIdMap() const void StSpaceData::SetObjectVisible(const QString &id, bool isVisible) { - for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) { - if (iter->first == id) { - iter->second = isVisible; - return; - } - } - - objectsIdVisibleQueue.enqueue(QPair(id, isVisible)); + QString stObjectId = idIdMap.value(id); + idObjectMap.value(stObjectId)->isVisible = isVisible; } bool StSpaceData::GetObjectVisible(const QString &id) const { - for (auto pair : objectsIdVisibleQueue) { - if (pair.first == id) { - return pair.second; - } - } - return true; + QString stObjectId = idIdMap.value(id); + return idObjectMap.value(stObjectId)->isVisible; } void StSpaceData::Clear() { - objectsIdVisibleQueue.clear(); + idObjectMap.clear(); + idIdMap.clear(); firstStTrack.clear(); optimizedStTrack.clear(); @@ -170,28 +165,38 @@ bool StSpaceData::Add(const custom::StSpace::ConstPtr &msg) return false; } -bool StSpaceData::QueueHaveId(const QString &id) +void StSpaceData::LimitObjectsNumber(const QStringList &listId) { - for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) { - if (iter->first == id) { - return true; + int32_t objectsMaxNumber = 1000; + if (idObjectMap.count() < objectsMaxNumber) { + return; + } + + for (auto iter = idObjectMap.begin(); iter != idObjectMap.end(); iter++) { + if (!listId.contains(iter.key())) { + idIdMap.remove(iter.value()->objectId); + idObjectMap.erase(iter); + return; } } - return false; } -void StSpaceData::LimitQueueNumber(const QStringList &listId) +void StSpaceData::LimitIdSize() { - int32_t queueMaxNumber = 1000; - if (objectsIdVisibleQueue.count() < queueMaxNumber) { + // 4294967295:uint32_t 取值范围0~4294967295 + if (StObject::id < 4294967295) { return; } - for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) { - if (!listId.contains(iter->first)) { - objectsIdVisibleQueue.erase(iter); - return; - } + QMap> map; + auto objects = idObjectMap.values(); + for (int32_t i = 0; i < object.count(); i++) { + auto object = objects.at(i); + object->setId(i); + map.insert(QString::number(i), object); + idIdMap[object->objectId] = QString::number(i); } + idObjectMap.clear(); + idObjectMap.swap(map); } } // namespace chart_plugin diff --git a/chart_plugin/src/st_space/st_space_data.h b/chart_plugin/src/st_space/st_space_data.h index a028f9f..d73d6c7 100755 --- a/chart_plugin/src/st_space/st_space_data.h +++ b/chart_plugin/src/st_space/st_space_data.h @@ -36,6 +36,24 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. namespace chart_plugin { +class StObject { +public: + StObject(const QString &objectId) { + this->objectId = objectId; + this->stObjectId = QString::number(id++); + }; + ~StObject() {}; + + void setId(int32_t id) { + this->id = id; + this->stObjectId = QString::number(this->id++); + } + + QString stObjectId; // 程序生成的id + QString objectId; // 数据包传入的id + bool isVisible { true }; // 是否可见 + static uint32_t id; // id +}; class StSpaceData { public: StSpaceData() = default; @@ -137,22 +155,22 @@ private: * 返回值：无 */ void SetObjectsCurveData(const std::vector &pointVector); - + /* - * 功能：查询objectsIdVisibleQueue队列是否有id数据 - * 输入参数：id-障碍物id属性 + * 功能：设置idObjectMap上限 + * 输入参数：listId-障碍物链表 * 输出参数：无 * 返回值：无 */ - bool QueueHaveId(const QString &id); + void LimitObjectsNumber(const QStringList &listId); /* - * 功能：设置objectsIdVisibleQueue队列上限 - * 输入参数：listId-障碍物链表 + * 功能：设置id大小上限 + * 输入参数：无 * 输出参数：无 * 返回值：无 */ - void LimitQueueNumber(const QStringList &listId); + void LimitIdSize(); private: QPolygonF firstStTrack {}; @@ -163,7 +181,8 @@ private: QMap objectsIdTypeMap {}; QMap objectsTypeIdMap {}; - QQueue> objectsIdVisibleQueue {}; + QMap> idObjectMap {}; //stObjectId(程序生成的id),object + QMap idIdMap {}; // objectId(topic读取的id), stObjectId(程序生成的id) }; } // namespace chart_plugin diff --git a/chart_plugin/src/st_space_display.cpp b/chart_plugin/src/st_space_display.cpp index 72d1561..e3267bf 100755 --- a/chart_plugin/src/st_space_display.cpp +++ b/chart_plugin/src/st_space_display.cpp @@ -28,7 +28,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include "common/utils.h" - +#include namespace chart_plugin { using rviz::ColorProperty; @@ -367,6 +367,8 @@ void StSpaceDisplay::InitQwtPlotStyle() // 连接槽，处理选择事件 connect(legend, SIGNAL(checked(const QVariant &, bool, int)), SLOT(LegendChecked(const QVariant &, bool))); + legend->horizontalScrollBar()->setPalette(QPalette()); + legend->verticalScrollBar()->setPalette(QPalette()); } // 绘制网格 -- Gitee From 68edf0badb42a45bfbdd08f1079198901c245077 Mon Sep 17 00:00:00 2001 From: wangjie <1020785391@qq.com> Date: Sun, 24 Apr 2022 17:34:25 +0800 Subject: [PATCH 2/6] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- chart_plugin/src/slt_space/slt_space_data.cpp | 2 +- chart_plugin/src/slt_space/slt_space_data.h | 2 +- chart_plugin/src/st_space/st_space_data.cpp | 2 +- chart_plugin/src/st_space/st_space_data.h | 3 +-- 4 files changed, 4 insertions(+), 5 deletions(-) diff --git a/chart_plugin/src/slt_space/slt_space_data.cpp b/chart_plugin/src/slt_space/slt_space_data.cpp index e821b55..76fc467 100755 --- a/chart_plugin/src/slt_space/slt_space_data.cpp +++ b/chart_plugin/src/slt_space/slt_space_data.cpp @@ -187,7 +187,7 @@ void SltSpaceData::LimitIdSize() QMap> map; auto objects = idObjectMap.values(); - for (int32_t i = 0; i < object.count(); i++) { + for (int32_t i = 0; i < objects.count(); i++) { auto object = objects.at(i); object->setId(i); map.insert(QString::number(i), object); diff --git a/chart_plugin/src/slt_space/slt_space_data.h b/chart_plugin/src/slt_space/slt_space_data.h index eb0cdb8..8a3d9cd 100755 --- a/chart_plugin/src/slt_space/slt_space_data.h +++ b/chart_plugin/src/slt_space/slt_space_data.h @@ -41,7 +41,7 @@ public: this->objectId = objectId; this->sltObjectId = QString::number(id++); }; - ~SltObject(){}; + ~SltObject() {}; void setId(int32_t id) { this->id = id; diff --git a/chart_plugin/src/st_space/st_space_data.cpp b/chart_plugin/src/st_space/st_space_data.cpp index 783d4d4..c4e95ff 100755 --- a/chart_plugin/src/st_space/st_space_data.cpp +++ b/chart_plugin/src/st_space/st_space_data.cpp @@ -190,7 +190,7 @@ void StSpaceData::LimitIdSize() QMap> map; auto objects = idObjectMap.values(); - for (int32_t i = 0; i < object.count(); i++) { + for (int32_t i = 0; i < objects.count(); i++) { auto object = objects.at(i); object->setId(i); map.insert(QString::number(i), object); diff --git a/chart_plugin/src/st_space/st_space_data.h b/chart_plugin/src/st_space/st_space_data.h index d73d6c7..bd854bc 100755 --- a/chart_plugin/src/st_space/st_space_data.h +++ b/chart_plugin/src/st_space/st_space_data.h @@ -29,8 +29,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include +#include #include "custom/StSpace.h" -- Gitee From a30b091a85e9c9863f73f3bd0f1d30a429820173 Mon Sep 17 00:00:00 2001 From: wangjie <1020785391@qq.com> Date: Sun, 24 Apr 2022 17:40:45 +0800 Subject: [PATCH 3/6] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- chart_plugin/src/slt_space/slt_space_data.cpp | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/chart_plugin/src/slt_space/slt_space_data.cpp b/chart_plugin/src/slt_space/slt_space_data.cpp index 76fc467..f1b95d9 100755 --- a/chart_plugin/src/slt_space/slt_space_data.cpp +++ b/chart_plugin/src/slt_space/slt_space_data.cpp @@ -124,19 +124,19 @@ const QMap &SltSpaceData::GetObjectsTypeIdMap() const void SltSpaceData::SetObjectVisible(const QString &id, bool isVisible) { QString sltObjectId = idIdMap.value(id); - idObjectMap.value(sltObjectId)->isVisible = isVisible; + idObjectMap.value(sltObjectId)->isVisible = isVisible; } bool SltSpaceData::GetObjectVisible(const QString &id) const { QString sltObjectId = idIdMap.value(id); - return idObjectMap.value(sltObjectId)->isVisible; + return idObjectMap.value(sltObjectId)->isVisible; } void SltSpaceData::Clear() { idObjectMap.clear(); - idIdMap.clear(); + idIdMap.clear(); optimizedSltTrack.clear(); sltSpeedLimit.clear(); @@ -171,7 +171,7 @@ void SltSpaceData::LimitObjectsNumber(const QStringList &listId) for (auto iter = idObjectMap.begin(); iter != idObjectMap.end(); iter++) { if (!listId.contains(iter.key())) { - idIdMap.remove(iter.value()->objectId); + idIdMap.remove(iter.value()->objectId); idObjectMap.erase(iter); return; } @@ -181,20 +181,20 @@ void SltSpaceData::LimitObjectsNumber(const QStringList &listId) void SltSpaceData::LimitIdSize() { // 4294967295:uint32_t 取值范围0~4294967295 - if (SltObject::id < 4294967295) { - return; - } - - QMap> map; - auto objects = idObjectMap.values(); - for (int32_t i = 0; i < objects.count(); i++) { - auto object = objects.at(i); - object->setId(i); - map.insert(QString::number(i), object); - idIdMap[object->objectId] = QString::number(i); - } - idObjectMap.clear(); - idObjectMap.swap(map); + if (SltObject::id < 4294967295) { + return; + } + + QMap> map; + auto objects = idObjectMap.values(); + for (int32_t i = 0; i < objects.count(); i++) { + auto object = objects.at(i); + object->setId(i); + map.insert(QString::number(i), object); + idIdMap[object->objectId] = QString::number(i); + } + idObjectMap.clear(); + idObjectMap.swap(map); } } // namespace chart_plugin -- Gitee From d46f357fd9fef93784488572eab618ee40cff0e7 Mon Sep 17 00:00:00 2001 From: wangjie <1020785391@qq.com> Date: Mon, 25 Apr 2022 10:13:29 +0800 Subject: [PATCH 4/6] =?UTF-8?q?=E4=BF=AE=E6=94=B9issue?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- chart_plugin/src/slt_space/slt_space_data.cpp | 3 +-- chart_plugin/src/st_space/st_space_data.cpp | 3 +-- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/chart_plugin/src/slt_space/slt_space_data.cpp b/chart_plugin/src/slt_space/slt_space_data.cpp index f1b95d9..4a5a5be 100755 --- a/chart_plugin/src/slt_space/slt_space_data.cpp +++ b/chart_plugin/src/slt_space/slt_space_data.cpp @@ -180,8 +180,7 @@ void SltSpaceData::LimitObjectsNumber(const QStringList &listId) void SltSpaceData::LimitIdSize() { - // 4294967295:uint32_t 取值范围0~4294967295 - if (SltObject::id < 4294967295) { + if (SltObject::id < UINT_MAX) { return; } diff --git a/chart_plugin/src/st_space/st_space_data.cpp b/chart_plugin/src/st_space/st_space_data.cpp index c4e95ff..a158d92 100755 --- a/chart_plugin/src/st_space/st_space_data.cpp +++ b/chart_plugin/src/st_space/st_space_data.cpp @@ -183,8 +183,7 @@ void StSpaceData::LimitObjectsNumber(const QStringList &listId) void StSpaceData::LimitIdSize() { - // 4294967295:uint32_t 取值范围0~4294967295 - if (StObject::id < 4294967295) { + if (StObject::id < UINT_MAX) { return; } -- Gitee From ee729ff49824f998f4d3f611927b455532ec0675 Mon Sep 17 00:00:00 2001 From: wangjie <1020785391@qq.com> Date: Tue, 31 May 2022 22:52:00 +0800 Subject: [PATCH 5/6] =?UTF-8?q?=E4=BF=AE=E6=94=B9README.md=E6=96=87?= =?UTF-8?q?=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 80cef70..5bea7a9 100644 --- a/README.md +++ b/README.md @@ -33,27 +33,26 @@ mviz_plugin是包含MViz（一款华为自研的可视化工具软件）、规 ``` 1.登录[Qwt软件包下载地址](https://sourceforge.net/projects/qwt/files/)下载安装包“qwt-6.1.4.tar.bz2“。 2.将下载完成的安装包拷贝到“third_party/qwt-6.1.4“目录下。 - 3.编译qwt，请参考“doc/qwt_compile.md“文档。 + 3.编译qwt，请参考“chart_plugin/doc/qwt_compile.md“文档。 ``` - 2.3 下载、编译MathGL依赖软件包。 ``` 1.登录[MathGL软件包下载地址](https://sourceforge.net/projects/mathgl/files/)下载安装包“mathgl-2.4.4.tar.gz“。 2.将下载完成的安装包拷贝到“third_party/mathgl-2.4.4“目录下。 - 3.编译mathgl，请参考“doc/mathgl_compile.md“文档。 + 3.编译mathgl，请参考“chart_plugin/doc/mathgl_compile.md“文档。 ``` **3. 编译chart_plugin功能包** - ``` + cd ~/workspace/catkin_ws/ catkin_make - ``` **4. 适配MViz** - 4.1 将编译生成的插件库文件复制到MViz的发布包下。 “MDC_Application_Visualizer-Ubuntu18-*“为MViz包的目录。 ``` - cd ~workspace/catkin_ws/ + cd ~/workspace/catkin_ws/ cp devel/lib/libchart_plugin.so .../MDC_Application_Visualizer-Ubuntu18-*/rviz_plugin/lib/ cp src/third_party/qwt-6.1.4/qwt-6.1.4/build/lib/libqwt.so* .../MDC_Application_Visualizer-Ubuntu18-*/rviz_plugin/lib/ cp src/third_party/mathgl-2.4.4/mathgl-2.4.4/build/lib/libmgl* .../MDC_Application_Visualizer-Ubuntu18-*/rviz_plugin/lib/ -- Gitee From f0be12c6de9fb2be8262c012c252b61ee704ae76 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=9D=B0?= <1020785391@qq.com> Date: Wed, 1 Jun 2022 08:17:37 +0000 Subject: [PATCH 6/6] update README.md. --- README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 5bea7a9..fd90ec8 100644 --- a/README.md +++ b/README.md @@ -44,10 +44,11 @@ mviz_plugin是包含MViz（一款华为自研的可视化工具软件）、规 ``` **3. 编译chart_plugin功能包** - +- 3.1 创建工作目录并执行编译 + ``` cd ~/workspace/catkin_ws/ catkin_make - + ``` **4. 适配MViz** - 4.1 将编译生成的插件库文件复制到MViz的发布包下。 “MDC_Application_Visualizer-Ubuntu18-*“为MViz包的目录。 -- Gitee