此文件为一个简单的cplex中文教程,适合初学者使用，内容涉及到相关算法的数学实例和opl语言的程序。- This document is a simple cplex Chinese tutorial, suitable for beginners to use, the contents of the relevant algorithms to relate to the mathematical examples and OPL language program.

RPLIDAR is a low cost LIDAR sensor suitable for indoor robotic SLAM application. It provides 360 degree scan field, 5.5hz/10hz rotating frequency with guaranteed 8 meter ranger distance, current more than 16m for A2 and 25m for A3 . By means of the h