求解线性可分离变量凸优化的非精确交替方向法，顾国勇，何炳生，Alternating direction method (ADM) has been well studied in the context of linearly constrained convex programming problems. In the last few years, we have witnessed a number of n

Linux SDK for UPnP Devices v1.4 Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3 About Callbacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 4 The API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4.1.1 UPNP E SUCCESS [0] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.1.2 UPNP E INVALID HANDLE [-100] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.1.3 UPNP E INVALID PARAM [-101] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.1.4 UPNP E OUTOF HANDLE [-102] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.1.5 UPNP E OUTOF MEMORY [-104] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.1.6 UPNP E INIT [-105] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.1.7 UPNP E INVALID DESC [-107] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.1.8 UPNP E INVALID URL [-108] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.1.9 UPNP E INVALID SERVICE [-111] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.1.10 UPNP E BAD RESPONSE [-113] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.1.11 UPNP E INVALID ACTION [-115] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.1.12 UPNP E FINISH [-116] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.1.13 UPNP E INIT FAILED [-117] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1.14 UPNP E BAD HTTPMSG [-119] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1.15 UPNP E ALREADY REGISTERED [-120] . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1.16 UPNP E NETWORK ERROR [-200] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1.17 UPNP E SOCKET WRITE [-201] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1.18 UPNP E SOCKET READ [-202] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.1.19 UPNP E SOCKET BIND [-203] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.1.20 UPNP E SOCKET CONNECT [-204] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.1.21 UPNP E OUTOF SOCKET [-205] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.1.22 UPNP E LISTEN [-206] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.1.23 UPNP E TIMEDOUT [-207] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.1.24 UPNP E SOCKET ERROR [-208] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.1.25 UPNP E CANCELED [-210] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.1.26 UPNP E SUBSCRIBE UNACCEPTED [-301] . . . . . . . . . . . . . . . . . . . . . . 14 4.1.27 UPNP E UNSUBSCRIBE UNACCAPTED [-302] . . . . . . . . . . . . . . . . . . 14 4.1.28 UPNP E NOTIFY UNACCEPTED [-303] . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.1.29 UPNP E INVALID ARGUMENT [-501] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.1.30 UPNP E FILE NOT FOUND [-502] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.1.31 UPNP E FILE READ ERROR [-503] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.1.32 UPNP E EXT NOT XML [-504] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.1.33 UPNP E NOT FOUND [-507] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.1.34 UPNP E INTERNAL ERROR [-911] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4.2 Constants, Structures, and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.2.3 UPnP EventType — The reason code for an event callback. . . . . . . . 17 4.2.5 Upnp SType — Represents the di?erent types of searches that can be performed using the SDK for UPnP Devices API. . . . . . . . . . . . . . . . . . . 22 4.2.6 Upnp DescType — Specifies the type of description in UpnpRegis- terRootDevice2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.2.7 Upnp Action Request — Returned as part of a UPNP CONTROL ACTION COMPLETE callback. . . . . . . . . . . 25 4.2.8 Upnp State Var Request — Represents the request for current value of a state variable in a service state table. . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.2.9 Upnp State Var Complete — Represents the reply for the current value of a state variable in an asynchronous call. . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.2.10 Upnp Event — Returned along with a UPNP EVENT RECEIVED callback. . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.2.11 Upnp Discovery — Returned in a UPNP DISCOVERY RESULT callback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.2.12 Upnp Event Subscribe — Returned along with a UPNP EVENT SUBSCRIBE COMPLETE or UPNP EVENT UNSUBSCRIBE COMPLETE callback. . . . . . 35 4.2.13 Upnp Subscription Request — Returned along with a UPNP EVENT SUBSCRIPTION REQUEST callback. . . . . . . 37 4.2.14 UpnpVirtualDirCallbacks — The UpnpVirtualDirCallbacks struc- ture contains the pointers to file-related callback functions a device ap- plication can register to virtualize URLs. . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.3 Initialization and Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.4 Discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.5 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.6 Eventing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 4.7 Control Point HTTP API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 4.8 Web Server API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5 Optional Tool APIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

If you need to learn CUDA but don't have experience with parallel computing, "CUDA Programming: A Developer's Introduction" offers a detailed guide to CUDA with a grounding in parallel fundamentals. It starts by introducing CUDA and bringing you up to speed on GPU parallelism and hardware, then delving into CUDA installation. Chapters on core concepts including threads, blocks, grids, and memory focus on both parallel and CUDA-specific issues. Later, the book demonstrates CUDA in practice for optimizing applications, adjusting to new hardware, and solving common problems. This title offers comprehensive introduction to parallel programming with CUDA, for readers new to both. It includes detailed instructions that help readers optimize the CUDA software development kit. It provides practical techniques that illustrate working with memory, threads, algorithms, resources, and more. It covers CUDA on multiple hardware platforms: Mac, Linux and Windows with several NVIDIA chipsets. Each chapter includes exercises to test reader knowledge.

Programming in HasKell 2nd Edition

本书介绍了Tcl（一种简单而强大的编程语言）的主要思想。

Design, build and simulate complex robots using Robot Operating System and master its out-of-the-box functionalities About This Book Develop complex robotic applications using ROS for interfacing robot manipulators and mobile robots with the help of high end robotic sensors Gain insights into autonomous navigation in mobile robot and motion planning in robot manipulators Discover the best practices and troubleshooting solutions everyone needs when working on ROS Who This Book Is For If you are a robotics enthusiast or researcher who wants to learn more about building robot applications using ROS, this book is for you. In order to learn from this book, you should have a basic knowledge of ROS, GNU/Linux, and C++ programming concepts. The book will also be good for programmers who want to explore the advanced features of ROS. Table of Contents Chapter 1: Introduction to ROS and Its Package Management Chapter 2: Working with 3D Robot Modeling in ROS Chapter 3: Simulating Robots Using ROS and Gazebo Chapter 4: Using the ROS MoveIt! and Navigation Stack Chapter 5: Working with Pluginlib, Nodelets, and Gazebo Plugins Chapter 6: Writing ROS Controllers and Visualization Plugins Chapter 7: Interfacing I/O Boards, Sensors, and Actuators to ROS Chapter 8: Programming Vision Sensors using ROS, Open-CV, and PCL Chapter 9: Building and Interfacing Differential Drive Mobile Robot Hardware in ROS Chapter 10: Exploring the Advanced Capabilities of ROS-MoveIt! Chapter 11: ROS for Industrial Robots Chapter 12: Troubleshooting and Best Practices in ROS

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Two highly efficient algorithms are known for optimally ordering joins while avoiding cross products: DPccp, which is based on dynamic programming, and Top-Down Partition Search, based on memoization. Both have two severe limitations: They handle only (1) simple (binary) join predicates and (2) inner joins. However, real queries may contain complex join predicates, involving more than two relations, and outer joins as well as other non-inner joins.

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