在SLAM地图上再标记已知点 5C

本人没接触过ROS,目前打算做一个ROS平面小车,能实现自动导航功能。
问题:

生成的SLAM地图能否在其中添加几个已知点,就是在地图上设立几个参考点,参考点信息已知,能够更好确定小车位置信息和动方向。这几个点能够导入到地图中,而且地图还能用。图片说明

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Sample Input 1 Lakers vs Celtics DerekFisher KobeBryant RonArtest PauGasol AndrewBynum LamarOdom MattBarnes SteveBlake ShannonBrown LukeWalton DerrickCaracter DevinEbanks RajonRondo RayAllen PaulPierce KevinGarnett ShaquilleO'Neal JeffGreen VonWafer GlenDavis JermaineO'Neal TroyMurphy NenadKrstic CarlosArroyo 17 Begin Jump Ball KevinGarnett vs PauGasol KobeBryant Hold Ball KobeBryant Pass to PauGasol Slam Dunk Made RajonRondo Hold Ball RajonRondo Pass to PaulPierce Jump Shot RonArtest Foul Missed Free Throw 1 of 2 Made Free Throw 2 of 2 Missed PauGasol Rebound End Sample Output Lakers 2-1 Celtics Lakers PLAYER PTS OFF DEF REB AST STL BLK PF FGM-A 3PM-A FTM-A DerekFisher 0 0 0 0 0 0 0 0 0-0 0-0 0-0 KobeBryant 0 0 0 0 1 0 0 0 0-0 0-0 0-0 RonArtest 0 0 0 0 0 0 0 1 0-0 0-0 0-0 PauGasol 2 0 1 1 0 0 0 0 1-1 0-0 0-0 AndrewBynum 0 0 0 0 0 0 0 0 0-0 0-0 0-0 LamarOdom DNP - Coach's Decision MattBarnes DNP - Coach's Decision SteveBlake DNP - Coach's Decision ShannonBrown DNP - Coach's Decision LukeWalton DNP - Coach's Decision DerrickCaracter DNP - Coach's Decision DevinEbanks DNP - Coach's Decision Celtics PLAYER PTS OFF DEF REB AST STL BLK PF FGM-A 3PM-A FTM-A RajonRondo 0 0 0 0 0 0 0 0 0-0 0-0 0-0 RayAllen 0 0 0 0 0 0 0 0 0-0 0-0 0-0 PaulPierce 1 0 0 0 0 0 0 0 0-0 0-0 1-2 KevinGarnett 0 0 0 0 0 0 0 0 0-0 0-0 0-0 ShaquilleO'Neal 0 0 0 0 0 0 0 0 0-0 0-0 0-0 JeffGreen DNP - Coach's Decision VonWafer DNP - Coach's Decision GlenDavis DNP - Coach's Decision JermaineO'Neal DNP - Coach's Decision TroyMurphy DNP - Coach's Decision NenadKrstic DNP - Coach's Decision CarlosArroyo DNP - Coach's Decision
Crazy Basketball Fan 具体的实现
Problem Description Alex is a big fan of basketball and he enjoys watching NBA matches. But as he always has classes in the morning when the game is on, he has to read literal living broadcast with his cellphone instead of TV live. The living broadcast gives messages about who scores or who gets the rebound, etc. After watching a few games with his cellphone, Alex finds a problem. After each game, he wants to know the status of the players (score, rebound…) but the system always fails to give. So Alex decides to calculate himself. Can you help him? If one of your teammates is a crazy basketball fan, you should make him solve this problem because he will find it interesting while working on this problem. Input The first line of input contains an integer t (t<=10) indicate the number of cases. In each case, the first line contains the names of the two teams in the form of "A vs B", where A stands for the name of home team and B stands for the name of away team. 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These messages may be followed by "Made"/"Missed"/"Blocked by x"/"x Foul". Made/Missed: If a shot was made and scored, "Made" will be given, otherwise "Missed". These two messages will be given right after a shot was attempted if the shot was not fouled or blocked. If the shot was fouled, these two messages will still be given right after "x Foul" to indicate whether the shot was made even with the foul. But if a shot was blocked, these messages will not be given since the shot is definitely missed. x Rebound: If a shot was missed, this message will be given to indicate who get the rebound (could be anyone from both teams). If someone gets the rebound, he holds the ball. Blocked by x: If a shot is blocked, this message will be given right after the message which indicates the shot. This message will always be followed by "x Hold Ball" and x could be anyone. A shot will only be blocked by a player from the opposite team with the shooter. x Foul: this message will be given when a player commit a foul to another player from the opposite team. There are two kind of foul. If this message is given right after the shot attempt, then this foul will lead to free throws. Otherwise this message will be followed by "x Hold Ball". Free Throw m of M: If a shot is fouled, the shooter will make free throws. If the fouled shot is made, then the shooter will only make one free throw. If it's missed and it's a 2-point shot, the shooter will make two free throws. If it's missed and it's a 3-point shot, the shooter will make three free throws. Each made free throw earns one point. In this message, m indicates the number of this free throw (start from 1) and M indicates the number of total free throws this player is going to attempt. Both m and M will be no bigger than 3 and m is no bigger than M. After each free throw there will be a message says "Made" or "Missed" to indicate whether the free throw is made or missed. If the last free throw is missed, just like normal shot, someone will get the rebound and if it's made, a player from the opposite team will hold the ball. No block could be made during the free throws. x Steal: If a player is now holding the ball, a player from the opposite team could steal the ball away. If someone steals the ball, he will hold it. x1 Substitution replaced by x2: this message means x1 is off court and replaced by x2. x1 and x2 are from the same team. This could only happen during timeout or before free throw or after a foul which doesn't lead to free throw. The player who is going to make a free throw won't be replaced. Before free throw means before any "Free Throw m of M" despite of m and M. Timeout: timeout could be called when someone is holding the ball. During timeout, substitution could be made. Timeout is ended with the message "x Hold Ball". It is guaranteed that all the messages are valid and follow the rules. The names of the players will not be the same with words like "rebound" and "block", etc. Actually all the names will be familiar to you if you watch NBA a lot. Output The first output line for each case will be "x1 n1-n2 x2", where x1 and x2 stand for the name of home team and away team and n1 and n2 stand for their total points. Then for each player from each team, calculate the number of his points, rebounds (including offensive and defensive), assists, steals, blocks and fouls. An assist is made when player x1 passes to player x2 and x2 makes a shot (2-pt or 3-pt) and then x1 gets the assist. A rebound is an offensive rebound when the shoot and the player who gets the rebound are from the same team (even the same player); otherwise it's a defensive rebound. 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If a player didn't play at all (never on court), then you should print "DNP - Coach's Decision" 10 spaces after their names. Print a single line after each case. Sample Input 1 Lakers vs Celtics DerekFisher KobeBryant RonArtest PauGasol AndrewBynum LamarOdom MattBarnes SteveBlake ShannonBrown LukeWalton DerrickCaracter DevinEbanks RajonRondo RayAllen PaulPierce KevinGarnett ShaquilleO'Neal JeffGreen VonWafer GlenDavis JermaineO'Neal TroyMurphy NenadKrstic CarlosArroyo 17 Begin Jump Ball KevinGarnett vs PauGasol KobeBryant Hold Ball KobeBryant Pass to PauGasol Slam Dunk Made RajonRondo Hold Ball RajonRondo Pass to PaulPierce Jump Shot RonArtest Foul Missed Free Throw 1 of 2 Made Free Throw 2 of 2 Missed PauGasol Rebound End Sample Output Lakers 2-1 Celtics Lakers PLAYER PTS OFF DEF REB AST STL BLK PF FGM-A 3PM-A FTM-A DerekFisher 0 0 0 0 0 0 0 0 0-0 0-0 0-0 KobeBryant 0 0 0 0 1 0 0 0 0-0 0-0 0-0 RonArtest 0 0 0 0 0 0 0 1 0-0 0-0 0-0 PauGasol 2 0 1 1 0 0 0 0 1-1 0-0 0-0 AndrewBynum 0 0 0 0 0 0 0 0 0-0 0-0 0-0 LamarOdom DNP - Coach's Decision MattBarnes DNP - Coach's Decision SteveBlake DNP - Coach's Decision ShannonBrown DNP - Coach's Decision LukeWalton DNP - Coach's Decision DerrickCaracter DNP - Coach's Decision DevinEbanks DNP - Coach's Decision Celtics PLAYER PTS OFF DEF REB AST STL BLK PF FGM-A 3PM-A FTM-A RajonRondo 0 0 0 0 0 0 0 0 0-0 0-0 0-0 RayAllen 0 0 0 0 0 0 0 0 0-0 0-0 0-0 PaulPierce 1 0 0 0 0 0 0 0 0-0 0-0 1-2 KevinGarnett 0 0 0 0 0 0 0 0 0-0 0-0 0-0 ShaquilleO'Neal 0 0 0 0 0 0 0 0 0-0 0-0 0-0 JeffGreen DNP - Coach's Decision VonWafer DNP - Coach's Decision GlenDavis DNP - Coach's Decision JermaineO'Neal DNP - Coach's Decision TroyMurphy DNP - Coach's Decision NenadKrstic DNP - Coach's Decision CarlosArroyo DNP - Coach's Decision
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