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Gazebo\n"},"Practice/Simulator/webots.html":{"url":"Practice/Simulator/webots.html","title":"2.5.3 webots","keywords":"","body":"2.5.3 webots\n"},"Practice/Simulator/Mujoco.html":{"url":"Practice/Simulator/Mujoco.html","title":"2.5.4 Mujoco","keywords":"","body":"2.5.4 Mujoco\n"},"Practice/IDE/IDE.html":{"url":"Practice/IDE/IDE.html","title":"2.6 集成开发环境","keywords":"","body":"2.6 集成开发环境\n"},"Practice/IDE/vscode.html":{"url":"Practice/IDE/vscode.html","title":"2.6.1 vscode","keywords":"","body":"2.6.1 vscode\n"},"Practice/IDE/Qt creator.html":{"url":"Practice/IDE/Qt creator.html","title":"2.6.2 Qt creator","keywords":"","body":"2.6.2 Qt creator\n"},"Practice/IDE/Clion.html":{"url":"Practice/IDE/Clion.html","title":"2.6.3 Clion","keywords":"","body":"2.6.3 Clion\n"},"Practice/IDE/KDevelop.html":{"url":"Practice/IDE/KDevelop.html","title":"2.6.4 KDevelop","keywords":"","body":"2.6.4 KDevelop\n"},"Practice/Electronic/Electronic.html":{"url":"Practice/Electronic/Electronic.html","title":"2.7 电力电子","keywords":"","body":"2.7 电力电子\n"},"Practice/VersionControl/VersionControl.html":{"url":"Practice/VersionControl/VersionControl.html","title":"2.8 版本控制","keywords":"","body":"2.8 版本控制\n"},"Practice/VersionControl/GitVersionControl.html":{"url":"Practice/VersionControl/GitVersionControl.html","title":"2.8.1 git","keywords":"","body":"git版本控制\ngithub\n安装git\n进入git官网下载页面，下载适配操作系统的安装包，进行安装\ngit配置\ngit config -e    # 针对当前仓库 \ngit config --list  #查看git配置\ngit config --global user.name \"wanghua\"\ngit config --global user.email test@runoob.com\n\n#只对当前仓库有效\ngit config user.name \"wanghua\"\ngit config user.email test@runoob.com\n创建仓库\n\n网页创建\n\n1.登录github\n2.创建新的仓库\n3.克隆到本地：\ngit clone git@github.com:***/test.git test_1\n4.编辑文件\n5.上传更新到github\ngit status ##查看git状态\ngit add . ##将本目录下所有文件加入到index\ngit commit -m \"comment\" ##将版本加入到HEAD\ngit push -u origin master:test ##origin指的是关联的远程仓库，master指的是本地分支，test指的是远程分支，注意本地分支应该先创建,-u在下次仓库不再是空的时候可以去除\n6.到github所在仓库的分支下请求合并“Pull request”\n\n本地创建\n\n1.指定仓库目录\n2.初始化\ngit init\n3.编辑仓库\n4.加入到HEAD\ngit add .\ngit commit -m \"comment\" ##将版本加入到HEAD\n由于本地Git仓库和Github仓库之间的传输是通过SSH加密的，所以连接时需要设置一下：\n5.创建SSH KEY\n~/.ssh ##检查之前是否生成了KEY\nssh-keygen -t rsa -C \"email\"  #一直enter，不要设置密码\nssh -T git@github.com\ncat ~/.ssh/id_rsa.pub\n打开github账户的设置，进入\"SSH and GPG keys\"，新建，输入id和上个命令输出的秘钥\n6.在github上新建仓库\n7.创建本地仓库与远程仓库的连接\ngit remote add origin 远程仓库\n8.更新远程仓库\ngit push -u origin master:test\n拉取仓库\n1.创建和更改本地与远程的连接\ngit remote add origin 远程仓库\n\n\ngit remote rm origin\ngit remote add origin 远程仓库\n2.从远程获取代码并合并本地的版本\ngit pull  :\ngit pull origin master:brantest\n分支管理\n1.创建分支\ngit branch \ngit checkout -b \n2.版本控制\n1.通过提交记录来进行版本控制\ngit log\ngit reflog\n2.通过分支控制版本，但是需要注意的是修改后需要commit后再切换回你想要去的分支，这样原分支的更改将不会被更新到其他分支，否则工作区的修改将是全局修改，因此核心仍旧是提交记录来进行修改\n3.合并分支\ngit checkout master\ngit merge develop\n4.版本回退\n撤销修改\n    1、只在工作区修改了,没提交到暂存区 \n        git checkout -- index.html 撤销工作区修改\n            其实 git checkout -- file 就是用暂存区的版本来代替工作区的版本\n\n    2、修改提交到暂存区之后(即git add 后,git commit 之前)\n        先使用$ git reset HEAD index.html 将暂存区的修改撤销掉，重新放回工作区，\n        git checkout -- index.html 撤销工作区修改\n\n    3、已经提交到本地的版本库分支master上了(前提是没推送到远程版本库,git commit 后,git push 之前)\n        git reset --hard commitId        版本回退\n5.删除分支\n删除分支\n    1、删除本地分支\n        git branch -d 分支名\n\n    2、删除仓库远程分支\n        git push origin --delete 分支名\n\n    3、批量删除本地分支\n        git branch |xargs git branch -D 强制删除所有分支\n        git branch |xargs git branch -d 删除本地所有与远程仓库同步分支（本地修改过未提交的不会删除）\n        git branch |grep \"xxbranch\"|xargs git branch -d 删除本地部分grep匹配的分支\n注意：新建空的文件夹并不会认为是更改\n6.标签管理\n$ git tag -a v1.0\n版本控制\n1.通过提交记录来进行版本控制\ngit log\ngit reflog\n2.通过分支控制版本，但是需要注意的是修改后需要commit后再切换回你想要去的分支，这样原分支的更改将不会被更新到其他分支，否则工作区的修改将是全局修改，因此核心仍旧是提交记录来进行修改\ngitee\n和github大同小异，关键在于\n"},"Practice/Building/Building.html":{"url":"Practice/Building/Building.html","title":"2.9 编译","keywords":"","body":"2.9 编译\n"},"Practice/Building/Cmake.html":{"url":"Practice/Building/Cmake.html","title":"2.9.1 Cmake","keywords":"","body":"CMakeList.txt下各命令功能\n1、常用\ncmake_minimum_required(Version 3.0) #指定cmake最低版本，该值应该低于安装cmake版本\nproject(test VERSION 1.0.0 LAUGUAGES C CXX)  #指定项目名字、版本、语言（C代表C语言，CXX代表C++）\nadd_executable(test src/main.cpp)  #指定源文件，源文件可以有多个但是只能有一个main函数\n\n2、编译方式\n\n(a)在CMakeList.txt所在目录下命令行模式\n\ncmake -B build  #在build下生成Makefile\ncmake --build build\n\n\n(b)创建build，在build目录下执行\n\ncmake ..  #指定源文件目录-S，比如'cmake -S .'，\n# 指定变量-D，比如'-DCMKAE_BUILD_TYPE=Debug DAUTHOR=RealCoolEngineer'\nmake  #Cmake是对大小写敏感的\n\n3、Cmake内置变量\n\nCMAKE_BINARY_DIR,PROJECT_BINARY_DIR,_BINARY_DIR：这三个变量内容一致，如果是内部编译，就指的是工程的顶级目录，如果是外部编译，指的就是工程编译发生的目录。\nCMAKE_SOURCE_DIR,PROJECT_SOURCE_DIR,_SOURCE_DIR： 这三个变量内容一致，都指的是工程的顶级目录。\nCMAKE_CURRENT_BINARY_DIR: 外部编译时，指的是target目录，内部编译时，指的是顶级目录\nCMAKE_CURRENT_SOURCE_DIR: CMakeList.txt所在的目录\nCMAKE_CURRENT_LIST_DIR: CMakeList.txt的完整路径\nCMAKE_CURRENT_LIST_LINE: 当前所在的行\nCMAKE_MODULE_PATH: 如果工程复杂，可能需要编写一些cmake模块-，这里通过SET指定这个变量\nLIBRARY_OUTPUT_DIR,BINARY_OUTPUT_DIR: 库和可执行的最终存放目录\n\n4、设置包含目录\ninclude_directories(\n    ${CMAKE_CURRENT_SOURCE_DIR}\n    ${CMAKE_CURRENT_BINARY_DIR}\n    ${CMAKE_CURRENT_SOURCE_DIR}/include\n)\n\nLinux下还可以通过flag的方式设置：\nset(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -I${CMAKE_CURRENT_SOURCE_DIR}\")\n\n该命令常常与其他命令组合使用\nfind_package(Eigen3 3.3 REQUIRED NO_MODULE)\ninclude_directories(\ninclude\n$(EIGEN3_INCLUDE_DIRS)\n)\n\n5、设置搜索目录\nlink_directories(\n    ${CMAKE_CURRENT_SOURCE_DIR}/libs64\n)\nlink_directories(/home/test/myprojects/libs)\n\n不建议使用该命令，而建议使用：\ntarget_link_libraries(${catkin_LIBRARIES}\n)\n\n6、链接库\ntarget_link_libraries(demo test)\n\n它会自动在系统默认库路径和指定自定义库路径进行搜索libtest.a和libtest.so文件\n指定完整路径\ntarget_link_libraries(demo ${CMAKE_CURRENT_SOURCE_DIR}/lib/test.so)\n\n指定多个链接库\ntarget_link_libraries(demo \n    ${CMAKE_CURRENT_SOURCE_DIR}/libs64/libtest.a \n    pthread)\n\n7、打印消息\nmessage([] \"message text\" ...)\n\n\n空或者NOTICE：比较重要的信息，如前面演示中的格式\nDEBUG：调试信息，主要针对开发者\nSTATUS：项目使用者可能比较关心的信息，比如提示当前使用的编译器\nWARNING：CMake警告，不会打断进程\nSEND_ERROR：CMake错误，会继续执行，但是会跳过生成构建系统\nFATAL_ERROR：CMake致命错误，会终止进程\n\n8、包含子目录\nadd_subdirectory (source_dir [binary_dir] [EXCLUDE_FROM_ALL])\n\n\nsource_dir\n必选参数。该参数指定一个子目录，子目录下应该包含CMakeLists.txt文件和代码文件。子目录可以是相对路径也可以是绝对路径，如果是相对路径，则是相对当前目录的一个相对路径。\n\n其他为可选参数\n9、生成链接库\n生成链接库\nadd_library(hello SHARED test.cpp)\n\n在上层文件中需要添加链接库的link\nadd_executable(...)\ntarget_link_libraries(demo hello)\n\n10、Ctest和Cpack\n待补充\n11、环境变量\n\n使用环境变量：$ENV{Name}\n写入环境变量：set(ENV{Name} value) #这里没有“$”符号\n\n12、系统信息\n\nCMAKE_MAJOR_VERSION，CMAKE 主版本号，比如2.4.6 中的2\nCMAKE_MINOR_VERSION，CMAKE 次版本号，比如2.4.6 中的4\nCMAKE_PATCH_VERSION，CMAKE 补丁等级，比如2.4.6 中的6\nCMAKE_SYSTEM ，系统名称，比如Linux-2.6.22\nCMAKE_SYSTEM_NAME ，不包含版本的系统名，比如Linux\nCMAKE_SYSTEM_VERSION ，系统版本，比如2.6.22\nCMAKE_SYSTEM_PROCESSOR，处理器名称，比如i686\nUNIX ，在所有的类UNIX平台为TRUE，包括OS X 和cygwin\nWIN32 ，在所有的win32 平台为TRUE，包括cygwin\n\n13、开关选项\n\nBUILD_SHARED_LIBS： 用来控制默认的库编译方式，如果 不设置，使用add_library在没有指定库类型的情况下，默认生成的都是静态库。如果设置了set(BUILD_SHARED_LIBS ON)后，默认生成动态库。\nCMAKE_C_FLAGS设置C编译选项，也可以通过add_definitions()添加\nCMAKE_CXX_FLAGS设置C++编译选项，也可以通过指令add_definitions()添加。\noption可以添加cmake编译选项。\n\n14、设置变量\n14.1、set直接设置变量的值\nset(SRC_LIST main.cpp test.cpp)\nadd_executable(demo ${SRC_LIST})\n\n14.2、set追加变量的值\nset(SRC_LIST main.cpp)\nset(SRC_LIST ${SRC_LIST} test.cpp)\nadd_executable(demo ${SRC_LIST})\n\n14.3、list追加或删除变量的值\nset(SRC_LIST main.cpp)\nlist(APPEND SRC_LIST test.cpp)\nlist(REMOVE_ITEM SRC_LIST main.cpp)\nadd_executable(demo ${SRC_LIST})\n\n15、条件控制\nif...else...elseif...endif\nif(MSVC)\n    set(LINK_LIBS common)\nelse()\n    set(boost_thread boost_log.a boost_system.a)\nendif()\n\ntarget_link_libraries(demo ${LINK_LIBS})\n\nif(${CMAKE_BUILD_TYPE} MATCHES \"debug\")\n    ...\nelse()\n    ...\nendif()\n\nwhile break continue foreach endwhile endforeach\nwhile(TRUE)\n  message(STATUS \"While true\")\n  break()\nendwhile()\n\nforeach(project_file ${COMMON_PROJECT_FILES})\n        message(STATUS \"project file found -- ${project_file}\")\n        include(\"${project_file}\")\n    endforeach()\n\n16、其他\naux_source_directory(. SRC_LIST) #搜索当前目录下的所有.cpp文件\nfile(GLOB SRC_LIST \"*.cpp\" \"*.cc\") #GLOB不支持递归遍历子目录，若想实现递归遍历子目录，请使用GLOB_RECURSE\n\n指定c和c++标准\nset (CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -std=c++11\")  #设置c++的编译选项\nset (CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} -std=c99\")  #设置c的编译选项\n\nset(CMAKE_C_STANDARD 99)\nset(CMAKE_CXX_STANDARD 11)\n\n"},"Practice/Building/catkin_make.html":{"url":"Practice/Building/catkin_make.html","title":"2.9.2 catkin_make","keywords":"","body":"2.9.2 catkin_make\n"},"Practice/Building/catkin.html":{"url":"Practice/Building/catkin.html","title":"2.9.3 catkin","keywords":"","body":"2.9.3 catkin\n"},"Practice/Tools/Tools.html":{"url":"Practice/Tools/Tools.html","title":"2.10 工具","keywords":"","body":"2.10 工具\n"},"Practice/Tools/Vim.html":{"url":"Practice/Tools/Vim.html","title":"2.10.1 Vim","keywords":"","body":"2.10.1 Vim\n"},"Practice/Tools/unzip.html":{"url":"Practice/Tools/unzip.html","title":"2.10.2 解压","keywords":"","body":"ubuntu下各种压缩和解压命令\n1、‘.tar'文件\n\n仅打包并非压缩\n\ntar -cvf  filename（压缩到当前文件夹）\ntar -cvf fileName.tar DirName（压缩到指定文件夹）\n\n解压\n\ntar -xvf filename.tar（解压到当前文件夹）\n2、'.gz'文件\n\n压缩\n\ngzip FileName       # 压缩，只能压缩文件\n\n解压\n\ngunzip FileName.gz  # 解压1\ngzip -d FileName.gz # 解压2\n3、'.tar.gz'、'.tgz'文件\n\n压缩\n\n# .tar.gz 和 .tgz\ntar -zcvf FileName.tar.gz DirName       # 将DirName和其下所有文件（夹）压缩\n\n解压\n\n# .tar.gz 和 .tgz\ntar -zxvf FileName.tar.gz               # 解压\ntar -C DesDirName -zxvf FileName.tar.gz # 解压到目标路径\n4、'.zip'文件\n\n压缩\n\nzip FileName.zip DirName    # 将DirName本身压缩\nzip -r FileName.zip DirName # 压缩，递归处理，将指定目录下的所有文件和子目录一并压缩\n\n解压\n\nunzip FileName.zip          # 解压\n5、'.rar'文件\n\n需要下载\n压缩\n\nrar a FileName.rar DirName # 压缩\n\n解压\n\nrar x FileName.rar      # 解压\n6、’.xz‘文件\n\n压缩\n\nxz -z filename\n\n解压\n\nxz -d filename.xz\n7、'.tar.xz'文件\n\n压缩\n\n未知\n\n解压\n\ntar xvJf filename.tar.xz\n8、’.bz2‘文件\n\n压缩\n\n.bzip2 -d FileName.bz2   #方式1\n.bunzip2 FileName.bz2    #方式2\n\n解压\n\nbzip2 -z FileName\n9、通用方法\n\n安装\n\nsudo apt-get install unar\n\n压缩\n\nunar file.zip\n\n解压\n\nunar file.zip -o FileName  #指定解压路径\n"},"Practice/Tools/FilePermission.html":{"url":"Practice/Tools/FilePermission.html","title":"2.10.3 文件权限","keywords":"","body":"文件权限\n1、权限针对三类对象进行定义\n\nu: owner是拥有文件的用户（所有者）\ng: group是所在者所在的群组\no: 其他人\n\n当然，我们也可以指定所有人，用字母\"a\"代表所有人\n2、每个文件针对每类访问者都定义了三种权限\n\nr：读取read\nw：写入write\nx：执行execute\n\n当然还有一种X：针对目录加执行权限，文件不加执行权限\n3、针对文件和目录给予权限的作用不同\n\n针对文件\n\n r：读取文件内容\n\n w：修改文件内容\n\n x：执行权限对除二进制程序以外的文件没什么意义\n\n针对目录\n\n r：查看目录下的文件列表\n\n w：删除和创建目录下的文件\n\n x：可以cd进入目录，能查看目录中文件的详细属性，能访问目录下文件内容（基础权限）\n4、每种权限代表数字\n\n\n\n权限\nw(write)\nr(read)\nx(execute)\n\n\n\n\n代表数字\n4\n2\n1\n\n\n\n5、查看和修改权限方法\n\n查看权限\n\nls -l     #查看当前目录下所有文件权限，用户组次序为u，g，o\nls -l DirName/File #查看指定目录下所有文件权限/查看指定文件的权限\nls -ld    #查看当前目录所在文件的权限\nls -ld DirName/File #查看指定目录或者文件的权限，而不列出其目录下的目录和文件权限\n\n修改权限\n\nmode法\n格式：chmod who opt per file\n\nwho：u g o a（all）\n\nopt：+ – =\n\nper：r w x X\n\n数字法\n格式：chmod XXX file\nrwx rw- r–    \n111 110 100\n7   6   4\n\nr：4\nw：2\nx：1\n\n\n\n\n6、其他\nchmod -R 中的'-R'指的是对目前目录下的所有文件与子目录进行相同的权限变更(即以递归的方式逐个变更)，也就是说指定目录和指定目录下的所有文件都将进行相同的权限修改\n"},"Practice/RealTime/RealTime.html":{"url":"Practice/RealTime/RealTime.html","title":"2.11 实时平台","keywords":"","body":"2.11 实时平台\n"}}}