move_r.cur下载

weixin_39821526 2023-11-17 15:00:48

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可再发行编码 - 有限使用: msjet35.dll msjint35.dll msjter35.dll msrd2x35.dll msrepl35.dll expsrv.dll vbajet32.dll msexch35.dll msexcl35.dll mspdox35.dll msltus35.dll mstext35.dll msxbse35.dll MSJTOR35.DLL MSJT4JLT.DLL mdac_typ.exe msorcl32.dll msdaora.dll 可再发行代码 - 扩展的使用: comct232.ocx comct332.ocx comctl32.ocx comdlg32.ocx dblist32.ocx hhctrl.ocx mci32.ocx msadodc.ocx mschrt20.ocx mscomct2.ocx mscomctl.ocx mscomm32.ocx MSDatGrd.ocx msdatlst.ocx MSDatRep.ocx msflxgrd.ocx mshflxgd.ocx msinet.ocx msmapi32.ocx msmask32.ocx msrdc20.ocx mswinsck.ocx picclp32.ocx richtx32.ocx sysinfo.ocx tabctl32.ocx wbclsdsr.ocx anibtn32.ocx dbgrid32.ocx gauge32.ocx graph32.ocx grid32.ocx gswdll32.dll keysta32.ocx mschart.ocx msoutl32.ocx spin32.ocx threed32.ocx adodcchs.dll cmct2chs.dll cmct3chs.dll cmctlchs.dll cmdlgchs.dll datgdchs.dll datlschs.dll DatRpchs.DLL DBGRDCHS.DLL dblstchs.dll flxgdchs.dll mcichs.dll MsCc2chs.dll msch2chs.dll MSCMCCHS.DLL MSCOMCHS.DLL MSHFGCHS.DLL inetchs.dll MSMPICHS.DLL MSMSKCHS.DLL rdc20chs.dll WINSKCHS.DLL pcclpchs.dll rchtxchs.dll SYSINCHS.DLL TABCTCHS.DLL mswcrchs.dll MSCHTCHS.DLL 可再发行代码 - 标准: oleaut32.dll secur32.dll compobj.dll ole2.dll ole32.dll olecnv32.dll olethk32.dll rpcltc1.dll rpcltc5.dll rpcltccm.dll rpclts5.dll rpcltscm.dll rpcns4.dll rpcrt4.dll rpcss.exe storage.dll stdole2.tlb stdole32.tlb imagehlp.dll dllhost.exe comcat.dll iprop.dll rpcmqcl.dll rpcmqsvr.dll olepro32.dll asycfilt.dll mfc40.dll msvcrt40.dll dcomcnfg.exe oledlg.dll ciscnfg.exe dcomcnfg.hlp IE4\MSJavx86.exe os\system\atl.dll os\system\ansi\atl.dll VB98\template\code\loadres.bas VB98\template\code\RegKeys.BAS VB98\template\controls\ListBtns.frm VB98\template\controls\ListBtns.frx VB98\template\controls\listpick.frm VB98\template\controls\listpick.frx VB98\template\controls\tvlv.frm

Diagram Designer Description Diagram Designer is a tool for creating flowcharts, diagrams or slide shows (eg. for an overhead projector). The program excels at creation of technical diagrams and allows for easy editing and object manipulation. Features (partial list) Freeware! (user supported) - as of this date Customizable templates which house often used pictures, symbols or objects Group objects together as a single entity Spellchecker for text used in diagrams Automatic links between objects - move one object, the other is adjusted Import objects or export diagrams as: □ BMP Windows® Bitmap □ CUR Windows® Cursor □ EMF Windows® Enhanced MetaFile □ GIF Graphics Interchange Format □ ICO Windows® Icon □ JP2 JPEG 2000 (requires Image Analyzer installed) □ JPG Joint Picture Expert Group □ MNG Multiple-image Network Graphics □ PCX Zsoft Paintbrush □ PNG Portable Network Graphics □ TIF TIFF image (requires Image Analyzer installed) □ WMF Windows® MetaFile use multiple layers and pages in a single diagram Slide show viewer (view sequential pages) Preview mode Optional snap mode with visible or invisible grid Graph plotter to plot mathematical expressions Compressed file format for minimizing drawing file size Advanced pocket calculator with equation solver MeeSoft Image Analyzer integration for bitmap image editing and extended file format support - separate package

用C语言实现的128位AES加密算法，可以运行在JAVA的JNI 中AIS加密算法c语言实现代码 nt cnt for(ent =0: cnt< 8: cnt++) BvtcToBit(*(ch+cnt), bit+(ent<<3)) return /将二进制位串转为长度为8的字符串水 int Bit64ToChar8 (ElemType bitL64, ElemType ch18) int cnt memset(ch, 0, 8) for(ent-0: cnt<8: cnt++i BitToByte(bit+(cnt<<3), ch+cnt) return 0 /*生成子密钥 int DES Make Subkeys(ElemType key _64, ElemType subkeys [16][48]) ElemType temp 56 int cnt DES PCI Transform(key,temp):/*PCI置换* for(cnt=0;cnt<16;cnt+-){*16轮跌代,产生16个子密钥米 DES ROL(tenp, MOVE TIMES[cnt]);循坏左移* DES PC2 Transform(temp, subkeys cnt]);/PC2置换,产生子密钥体 return o /*密钥置換1*/ int DES PCI Transform(ElemType key [64, ElemType tempts[56])t int cnt for(cnt=0: cnt( 56 cnt++) )empts[cnt]= key[ Ilant] r巳turn /*密钥置換2* int DES PC2 Transform(Elem Type key [56], ElemType tempts[48])i t cnt for(ent =0: cnt< 48: cnt+)I )pbts [cnt]= key [PC 2[cnt]] return /*循环左移*/ int DES ROL (Elem Type data[56], int time)t Elem l'ype temp _56 /*保存将要循环栘动到右边的位* memcpy(temp, data, time) memcpy(temg-time, data+28, time) /*前28位移动 (data-28-time, temp, time) /*后28位移动* memcpy(data 28, data+28+time, 28-time memcpy (data-56-time, temp+time, time) return o /*P置换*/ int DES IP) Iransform(Elemlype data[64)[ ElemType temp _64]: for(cnt templet- datalIP Tablelcnt」」 memcpy(data, temp, 64) return o 第3页 AIS加密算法c语言实现代码 /*IP逆置換* int DES IP 1 Transform(ElemType data[64)( int cnt ElemType temp _64 for(cnt =0: cnt 64: cnt+-)i templet」- dataLIP1 Tablelcrt]」 memcpy(data, temp, 64) return o /*扩展置换*/ int DES E Transform(ElemType data[48])( Int cn ElemType temp48」 for(ent-0: cnt 48: cnt-) temp lent= datale Tablelent memcpy( data, temp, 48 return o P置换 int DES P Transform(ElemType data[32])( t ElemType temp_32] for(ent =0; cnt 32; cnt+-) temp ent-datalP Tablel 11 me.mcpy(data, temp, 32) return 0 /水异或* int DES XOR(Elem Type R[48, Elem Type L[48], int count)I int cnt for(cnt-0: cnt< count: cnt++)i RIant]= lent] return 0 /*S盒置换*/ int DES SBOX (Elem Type data[48]) int cnt int line, row, output int curl, cur for(ent=0; cnt( 8: cnt++i curl cnt:6 cur2= cnt<<2 /*计算在S盒中的行与列来 line=(data cur1<<1)+ data[ cur1+5 row=(data[cur1+1]<<3)+(data[cur1+2]<<2) +(data「cur1-31<<1)+data「cur1+41 output s[cnt][line]trow] /*化为2进制*/ data[cur2]=(output&0X08)>>3 data[cur2+1]=(output&0X04)>>2 data (output&0X02)>1 datalcur 2+3= output&0x01 return o 交换 int DES Swap(ElemType left[32], ElemType right [32]) memcpy(temp, left, 32 memcpy(left, right, 32 memcpy (right, temp, 32 return o 第4页 AIS加密算法c语言实现代码 /*加密单个分组 int DES EncryptBlockElem Type plainBlock[8, ElemType subKeys[l6][48, ElemType cipherBlock[8])I ElemT'ype plainTs [54] ElemType copyRight[48] int cnt Char8ToBit64(plainBlock, plairBits) /米初始置换(IP置换)* DES IP Transform(plainBits /*16轮迭代* for(cnt=0: cnt< 16: cnt+-) memcpy(copyRight, plainBits- 32, 32 /*将右半部分进行扩展置换,从32位扩展到48位*/ DES E Trans form(copyRight) /*将右半部分与子密钥进行异或操作 DES XOR (copy Righ 48) /*异或结果进入S盒,输出32位结果*/ DES SBOX (copyRight) /P置换 DES P Transform(copyRight) /*将明文左半部分与右半部分进行异或* DES XOR (plainBits, copyRight, 32) 最终完成左右部的交换* DES Swap(plainBits, plainBits-32) /逆初始置换(IPI置换)* DES IP 1 Transform (plainBits) Bit64ToChar8(plainBits, cipherBlock) turn o /*解密单个分组 int DES DecryptBlock(ElemType cipherBlock[8, ElemType subKeys[16] 18], ElemType plainBlock [81) ElemType cipherBits[ 641 Elem Type copy Right [48] int cnt Char8ToBit64(cipherBlock, cipherBits) /初始置换(IP置换)* DES IP Transform(cipherBits /*16轮迭代*/ for(cnt-15: cnt >-0: cnt--)i memcpy(copyRight, cipherBits+32, 32 /*将右半部分进行扩展置换,从32位扩展到48位 DES T Trans form(copyright) /*将右半部分与子密钥进行异或操作 DES XOR(copy Right, subKeys [ent], 48) /*异或结果进入S盒,输出32位结果* DES SBOX(copyRight) /米P置换* DES P Transform(copyright) /*将明文h半部分与右半部分进行异或* DES XOR (cipherBits, copy Right, 32) f(cnt /米最终完成左右部的交换* DES Swap(cipherBits, cipherBits+32) /*逆初始置换(IP1置换)* DES IP 1 Transform(cipherBits) Bit64ToChar8(cipherBits, plainBlock) return 0: *加密文件 int DES Encrypt (char xplainFile, char *keyStr, char *cipherFile)t FILE xplain, i*cipher; int count ElcmType plainBlock[81, ciphcrBlock [8, keyBlock 8 第5页 AIS加密算法c语言实现代码 Elem Type bEy 64] ElemType subKeys[16][18] if((plain- fopen(plainFilc, " rb"))--NULL) return Plain FILe OPEN ERROR return CIPHER FILE OPEN ERROR: ))== NULL)( if ((cipher fopen(cipherFile, wb /设置密钥 memcpy (keyBlock, key Str, 8) 将密钥转换为二进制流* Char8ToBit64(keyBlock, bKcy /牛成子密钥* DES Make SubKeys(bEy, subKeys while(!feof plain))( /*每次读8个字节,并返回成功读取的字节数* if((count- fread(plainBlock, sizeof(char),8, plain)) 8){ DES EncryptBlock (plainBlock, subKeys, cipherBlock f(count)[ /*填充*/ memset(plainBlock ount, \0, 7- count) /*最后一个字符休存包括最后一个字符在内的所填充的字符数量水 plainblockl7-8-count DES EncryptBlock (plainBlock, subkeys, cipherBlock fwrite(cipherBlock, sizeof (char), 8, cipher) fclose (plain) f'c. lose(cipher return oK /*解密文件* int DES Decrypt(char *cipherFile, char *key Str, char xplainFile)i FILE* plain,米 cipher int count, times 0 long fileLen Eleml'ype plainBlock [8], cipherBlock[8], keyBlock[8 ElemType bEy _6 ElemType subKeys[16][48] if ((cipher fopen(cipherFile, rb ))= NULL)[ return CIPHEr FILe OPEN ERROR if((plain= fopen(plainFile, wb" ))= NULL) rcturn plain FIle OPEN ERROR /*设置密钥* memcpy(key Block, keyStr, 8) /将密钥转换为二进制流* Char8ToBit64 (keyBlock, bKey) /水生成子密钥* ES Make SubKeys(bKey subKeys) /取文什长度*/ fseek( cipher,0, SEEK END);/将文件指针置尾 fi lelen= ftel l( cipher);/*取文件指针当前位置*/ rewind( CIpher);/*将文件指针重指向文件头* while(1)i 密文的字节数一定是8的整数倍* fread(cipherBlock, sizeof(char), 8, cipher DES DecryptBlock(cipherBlock, subKeys, plainBlock) times +-8 if(times< fileLen fwrite(plainBlock, sizeof(char), 8, plain) /*判断末尾是否被填充米 if(plainBlock 71< 8)i 第6页 AIS加密算法c语言实现代码 for(count=8- plainBlock[7]; count< 7; count++)( if(plainBlock[ count!='\0i break if( count==7){/*有填充* fwrite(plairBlock, sizeof (char), 8- plainBlockL7, plain) else{/*无填充 fwrite(plainBlock, sizeof(char), 8, plain) t'close ( plain) fclose(cipher) return OK int main() clock t a, b a= clockO DES Encrypt( 1. txt, key. txt, 2. txt b=clock o printf("加密消耗%毫秒Ⅶn",b-a); system("pause") a= clock( DES Decrypt( 2. txt, key. txt", 3. txt") printf("解密消耗%毫秒、n",o-a) getcharo return 第7页

在上一篇的博客中，我们一起学习了ROS定位于导航的总体框架，这一篇我们主要研究其中最重要的move_base包。在总体框架图中可以看到，move_base提供了ROS导航的配置、运行、交互接口，它主要包括两个部分：（1）全局路径规划（global planner）：根据给定的目标位置进行总体路径的规划；（2）本地实时规划

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