vector<double>&local_x,vector<double>&local_y,vector<double> &local_yaw,int local_point_id) { //double yaw_change=azimuthAngle(x_orignal[local_point_id+keep_point],y_orignal[local_point_id+keep_point], //x_target[local_point_id+keep_point+chang_lane_point],y_target[local_point_id+keep_point+chang_lane_point]); double dx=x_target[local_point_id+keep_point+chang_lane_point]-x_orignal[local_point_id+keep_point]; // keep_point--生成局部路径前的保持距离 double dy=y_target[local_point_id+keep_point+chang_lane_point]-y_orignal[local_point_id+keep_point]; Eigen::Matrix3d axis_rotation; axis_rotation = Eigen::AngleAxisd(yaw_orignal[local_point_id+keep_point], Eigen::Vector3d::UnitZ()) * Eigen::AngleAxisd(0, Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(0, Eigen::Vector3d::UnitX()); Eigen::Vector3d local_axis_loc(dx, dy, 0); auto local_axis_point=axis_rotation.inverse()*local_axis_loc; double local_angle=abs(atan((local_axis_point[0])/(local_axis_point[1]))); double xxx=local_axis_point[0]; double yyy=local_axis_point[1]; double x_average=local_axis_point[0]/(chang_lane_point+1); if (local_angle>M_PI_2) local_angle=M_PI-local_angle; else if (local_angle<-M_PI_2) local_angle=M_PI+local_angle; double change_rate_angle=(M_PI_2-local_angle)/(chang_lane_point+1)*2; if(x_target[local_point_id+keep_point+chang_lane_point]-x_orignal[local_point_id+keep_point]==0) { return false; }

Rotation_with_keyboard.rar_visual c

在Direct3D中，我们可以使用D3DXMatrixRotationXYZ函数创建一个旋转矩阵，该函数接受三个角度参数，分别对应X、Y、Z轴的旋转。而在OpenGL中，可以使用glRotatef函数，同样需要提供旋转中心和旋转角度。最后，...

Wind_Turbine_Model_R12b.rar_Wind Turbine Blades_Wind turbine yaw

It includes a three-dimensional mechanical model of the tower, nacelle, and blades modeled in Simscape Multibody, hydraulic pitch actuators, electrical yaw actuators, a simple generator and ...

win10 下如何安装########## <?xml version="1.0"?> <name>trac_ik_lib</name> <version>1.6.6</version> <description> TRAC-IK is a faster, significantly more reliable drop-in replacement for KDL's pseudoinverse Jacobian solver. The TRAC-IK library has a very similar API to KDL's IK solver calls, except that the user passes a maximum time instead of a maximum number of search iterations. Additionally, TRAC-IK allows for error tolerances to be set independently for each Cartesian dimension (x,y,z,roll,pitch.yaw). </description> <author>Patrick Beeson</author> <author>Barrett Ames</author> <maintainer email="robotics@traclabs.com">TRACLabs Robotics</maintainer> BSD <buildtool_depend>catkin</buildtool_depend> <build_depend>boost</build_depend> <build_depend>cmake_modules</build_depend> <build_depend>eigen</build_depend> <build_depend>kdl_parser</build_depend> <build_depend>libnlopt-dev</build_depend> <build_depend condition="$ROS_DISTRO == noetic">libnlopt-cxx-dev</build_depend> <build_depend>pkg-config</build_depend> <build_depend>roscpp</build_depend> <build_depend>urdf</build_depend> <build_export_depend condition="$ROS_DISTRO == noetic">libnlopt-cxx-dev</build_export_depend> <exec_depend>boost</exec_depend> <exec_depend>kdl_parser</exec_depend> <exec_depend>libnlopt-dev</exec_depend> <exec_depend>libnlopt0</exec_depend> <exec_depend>roscpp</exec_depend> <exec_depend>urdf</exec_depend>

这是一个 ROS 包的描述文件，需要使用 ROS 环境来安装和使用。在 Win10 上安装 ROS 可以参考以下步骤： 1. 安装虚拟机软件，例如 VMware Workstation 或 VirtualBox。 2. 下载 Ubuntu 镜像，可以从 Ubuntu 官网...

if(local_point_id+keep_point+chang_lane_point<x_orignal.size()) { local_x.assign(x_orignal.begin()+local_point_id,x_orignal.begin()+local_point_id+keep_point+1); local_y.assign(y_orignal.begin()+local_point_id,y_orignal.begin()+local_point_id+keep_point+1); local_yaw.assign(yaw_orignal.begin()+local_point_id,yaw_orignal.begin()+local_point_id+keep_point); for (unsigned int i = 0; i < int(chang_lane_point/2); i++) { double local_xx=(i+1)abs(x_average); double local_yy=(local_axis_point[1]/abs(local_axis_point[1]))(i+1)abs(x_average) tan(change_rate_angle(i+1)); local_x.push_back(local_xxcos(yaw_orignal[local_point_id+keep_point])-local_yysin(yaw_orignal[local_point_id+keep_point])+x_orignal[local_point_id+keep_point]); local_y.push_back(local_xxsin(yaw_orignal[local_point_id+keep_point])+local_yycos(yaw_orignal[local_point_id+keep_point])+y_orignal[local_point_id+keep_point]); local_yaw.push_back(change_rate_angle(i+1)); } local_x.push_back(local_axis_point[0]/2cos(yaw_orignal[local_point_id+keep_point])-local_axis_point[1]/2sin(yaw_orignal[local_point_id+keep_point])+x_orignal[local_point_id+keep_point] ); local_y.push_back(local_axis_point[0]/2sin(yaw_orignal[local_point_id+keep_point])+local_axis_point[1]/2cos(yaw_orignal[local_point_id+keep_point])+y_orignal[local_point_id+keep_point] ); local_yaw.push_back(change_rate_angle12); for (unsigned int i = 0; i < int(chang_lane_point/2); i++) { double local_xx_2=local_axis_point[0]-(int(chang_lane_point/2)-i)abs(x_average); double local_yy_2=local_axis_point[1]-(local_axis_point[1]/abs(local_axis_point[1]))(int(chang_lane_point/2)-i)abs(x_average) * tan((change_rate_angle(int(chang_lane_point/2)-i))); local_x.push_back(local_xx_2cos(yaw_orignal[local_point_id+keep_point] )-local_yy_2sin(yaw_orignal[local_point_id+keep_point] )+x_orignal[local_point_id+keep_point]); local_y.push_back(local_xx_2sin(yaw_orignal[local_point_id+keep_point] )+local_yy_2cos(yaw_orignal[local_point_id+keep_point] )+y_orignal[local_point_id+keep_point]); local_yaw.push_back(change_rate_angle(int(chang_lane_point/2)-i)); } if(keep_point+chang_lane_point<local_path_size) { local_x.insert(local_x.end(),x_target.begin()+local_point_id+keep_point+chang_lane_point,x_target.begin()+(local_path_size+local_point_id-1)); local_y.insert(local_y.end(),y_target.begin()+local_point_id+keep_point+chang_lane_point,y_target.begin()+(local_path_size+local_point_id-1)); local_yaw.insert(local_yaw.end(),yaw_orignal.begin()+local_point_id+keep_point+chang_lane_point,yaw_orignal.begin()+(local_path_size+local_point_id-1)); } else { cout<<"keep_point + chang_lane_point 大于"<<local_path_size<<endl; }

最后，如果满足条件 keep_point+chang_lane_point<local_path_size，则将一些额外的值从 x_target、y_target 和 yaw_orignal 向量中添加到 local_x、local_y 和 local_yaw 向量中。否则，输出一条错误...

void Serial::sendcom(int pitch, int yaw, int flag) { //定义数据包 unsigned char data_write[8] = { 0xFF, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0, 0xFE };//发八位 int high_pitch = 0; int low_pitch = 0; int high_yaw = 0; int low_yaw = 0; if (flag == 0) { } else { if (pitch >= 0) { high_pitch = pitch >> 8; //保留高八位 low_pitch = pitch & 255; //保留低八位 } else { pitch = -pitch; //二进制负数在计算机中表示补码，将负的变成正的，方便计算 high_pitch = pitch >> 8; //保留高八位 low_pitch = pitch & 255; //保留低八位 high_pitch += 128; //最后在末尾加上1，标明该数据为负数 } if (yaw >= 0) { high_yaw = yaw >> 8; low_yaw = yaw & 255; } else { yaw = -yaw; high_yaw = yaw >> 8; low_yaw = yaw & 255; high_yaw += 128; } //数据存入包 data_write[1] = high_pitch; data_write[2] = low_pitch; data_write[3] = high_yaw; data_write[4] = low_yaw; } //写入串口 size_t len_write = m_serialport.write_some(buffer(data_write), ec); /cout << "high_pitch: " << int(data_write[1]) << endl << "low_pitch: " << int(data_write[2]) << endl << "high_yaw: " << int(data_write[3]) << endl << "low_yaw: " << int(data_write[4]) << endl;/ if (ec) { cout << "m_serialport.write_some fail " << endl; } else { cout << "m_serialport.write_some success " << endl; } }

这段代码是一个函数，用于将pitch和yaw两个角度数据打包发送到串口上。数据包的格式是8个字节，其中第1个字节是固定的0xFF，第2和第3个字节是pitch角度值（按位分为高八位和低八位），第4和第5个字节是yaw角度值...

解释下列代码 qDebug()<<"111"; MistakeCore_x = (m_data->core_x) - 320; MistakeCore_y = (m_data->core_y) - 240; if(m_data->targetclass == 1) { if(MistakeCore_x>10) { TargetAngle_x = (m_data->attitude[1][3])+0.5;//角度减小 //qDebug()<<"角度减小"; } if(MistakeCore_x<-10) { TargetAngle_x = (m_data->attitude[1][3])-0.5;//角度增加 //qDebug()<<"角度增加"; } if((MistakeCore_x>-10)&&(MistakeCore_x<10)) { TargetAngle_x = (m_data->attitude[1][3]); } if(MistakeCore_y>10) { TargetAngle_y = (m_data->attitude[1][0])-4;//角度减小 } if(MistakeCore_y<-10) { TargetAngle_y = (m_data->attitude[1][0])+4;//角度增加 } if((MistakeCore_y>-10)&&(MistakeCore_y<10)) { TargetAngle_y = (m_data->attitude[1][0]); } //qDebug()<<"识别为火焰，发信号,x="<<TargetAngle_x; //qDebug()<<"yaw="<<m_data->attitude[1][3]; emit SetAngle(TargetAngle_y,90,TargetAngle_x); } break; default: //qDebug()<<"自动追踪模式"; break; }

if((MistakeCore_y>-10) && MistakeCore_y<10) { TargetAngle_y = m_data->attitude[1][4]; } } 这段代码是一个机器人控制程序中的一部分，主要功能是根据机器人摄像头拍摄到的图像信息，调整机器人的角度，使...

<include> <uri>model://stereo_camera</uri> 0.1 0 0 0 0 0 </include>

其中，<uri>标签指定了模型文件的路径，<pose>标签指定了模型的位置姿态，以x、y、z坐标和roll、pitch、yaw角度表示。在这里，双目相机的初始位置是在世界坐标系下x轴方向0.1米处，其余坐标为0。

在c++中 << "act_yaw: " << act_yaw

根据以上引用内容，无法直接回答问题"在c++中 << "act_yaw: " << act_yaw"。请提供更多相关的代码或上下文信息。 #### 引用[.reference_title] - *1* [园区低速自动驾驶实车决策规划控制（C++实现）]...

翻译这段代码： # Ensure the cross track error has the correct sign orientation_vector = [np.cos(yaw), np.sin(yaw)] crosstrack_vector = [x_lookahead - x, y_lookahead - y] cross = np.cross(orientation_vector, crosstrack_vector) if cross < 0: crosstrack_error = -crosstrack_error return crosstrack_error, yaw_diff_crosstrack

crosstrack_vector = [x_lookahead - x, y_lookahead - y] # 叉乘得到方向向量与横向向量的叉积 cross = np.cross(orientation_vector, crosstrack_vector) # 如果叉积小于0，说明目标点在车辆左侧，需要将偏差取反 ...

为什么这段代码要确认横向偏差方向： # Ensure the cross track error has the correct sign orientation_vector = [np.cos(yaw), np.sin(yaw)] crosstrack_vector = [x_lookahead - x, y_lookahead - y] cross = np.cross(orientation_vector, crosstrack_vector) if cross < 0: crosstrack_error = -crosstrack_error return crosstrack_error, yaw_diff_crosstrack

这段代码的作用是确保横向偏差（cross track error）的符号正确。横向偏差是指车辆当前位置与理想轨迹的垂直距离，如果符号不正确，则车辆可能会朝着相反的方向移动，这会导致控制器出现错误。因此，我们需要确认...

void ModeStabilize_Run(void) { float target_roll, target_pitch; float target_yaw_rate; float pilot_throttle_scaled; // if not armed set throttle to zero and exit immediately如果没有武装，将油门设置为零并立即退出 if (!ACMotors_armed_state() || tACFlags.throttle_zero) { zero_throttle_and_relax_ac(); return; } // clear landing flag LandDetector_SetLandComplete(false); ACMotors_set_desired_spool_state(DESIRED_THROTTLE_UNLIMITED); // apply SIMPLE mode transform to pilot inputs // update_simple_mode(); // convert pilot input to lean angles将飞行员输入转换为倾斜角度 get_pilot_desired_lean_angles(&target_roll, &target_pitch, tAttitudeContorl.tParam.angle_max, tAttitudeContorl.tParam.angle_max); // get pilot's desired yaw rate target_yaw_rate = get_pilot_desired_yaw_rate(ApmData_GetControlIn_Yaw()); // get pilot's desired throttle pilot_throttle_scaled = get_pilot_desired_throttle(ApmData_GetControlIn_Throttle()); // call attitude controller AttCtrl_input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); // body-frame rate controller is run directly from 100hz loop // output pilot's throttle AttCtrl_set_throttle_out(pilot_throttle_scaled, true, 0.0f); }

- target_roll、target_pitch、target_yaw_rate和pilot_throttle_scaled都是float类型的变量，用于存储目标倾斜角、目标偏航速率和飞行员期望油门值。 - 如果飞行器没有武装或者油门值为零，则将油门值设置为零并...

给下列程序添加注释： void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { if (setup_ && config.restore_defaults) { config = default_config_; config.restore_defaults = false; } if ( ! setup_) { default_config_ = config; setup_ = true; } // update generic local planner params base_local_planner::LocalPlannerLimits limits; limits.max_vel_trans = config.max_vel_trans; limits.min_vel_trans = config.min_vel_trans; limits.max_vel_x = config.max_vel_x; limits.min_vel_x = config.min_vel_x; limits.max_vel_y = config.max_vel_y; limits.min_vel_y = config.min_vel_y; limits.max_vel_theta = config.max_vel_theta; limits.min_vel_theta = config.min_vel_theta; limits.acc_lim_x = config.acc_lim_x; limits.acc_lim_y = config.acc_lim_y; limits.acc_lim_theta = config.acc_lim_theta; limits.acc_lim_trans = config.acc_lim_trans; limits.xy_goal_tolerance = config.xy_goal_tolerance; limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_vel; planner_util_.reconfigureCB(limits, config.restore_defaults); // update dwa specific configuration dp_->reconfigure(config); }

limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_...

[ WARN] [1689253373.292029834, 104.560000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_x>, defaults to 0.000100 [ WARN] [1689253373.293199393, 104.560000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_y>, defaults to 0.000100 [ WARN] [1689253373.293433464, 104.560000000]: GazeboRosSkidSteerDrive Plugin (ns = //) missing <covariance_yaw>, defaults to 0.010000

这些警告信息表示在GazeboRosSkidSteerDrive插件中缺少<covariance_x>、<covariance_y>和<covariance_yaw>参数，并且这些参数的默认值分别为0.000100和0.010000。这些参数通常用于设置运动模型的协方差，用于估计...

static inline double getYaw(const geometry_msgs::Quaternion& msg_q){ Quaternion bt_q; quaternionMsgToTF(msg_q, bt_q); return getYaw(bt_q); }

这是一个 C++ 函数，用于从 ROS 消息类型的 geometry_msgs::Quaternion 中获取航向角（yaw）。具体实现步骤如下： 1. 将 geometry_msgs::Quaternion 消息类型转换为 tf::Quaternion（Transform Library 中定义的...

将C++#include <ros/ros.h> #include <ros/package.h> #include <quadrotor_msgs/PositionCommand.h> #include #include <sensor_msgs/Joy.h> #include<mavros_msgs/AttitudeTarget.h> #include <tf/tf.h> #include <math.h> using namespace std; int main(int argc, char **argv) { ros::init(argc, argv, "traj_pub"); //##节点名traj_pub ros::NodeHandle nh; // ros::Publisher local_pos_pub3 = nh.advertise<quadrotor_msgs::PositionCommand> ("/position_cmd", 10); //##话题名字为/——position_cmd 10为缓存长度 quadrotor_msgs::PositionCommand poscom; //ros::Publisher local_pos_pub3 = nh.advertise<mavros_msgs::AttitudeTarget> // ("/mavros/setpoint_raw/attitude", 10); //mavros_msgs::AttitudeTarget msg; ros::Rate rate(20.0); //##循环频率20 int i = 0; while(ros::ok()) { poscom.position.x = 2.5sin(M_PIi/400); poscom.position.y = 5sin(M_PIi/800); poscom.position.z = 2; poscom.velocity.x = 0; poscom.velocity.y = 0; poscom.velocity.z = 0; poscom.acceleration.x = 0; poscom.acceleration.y = 0; poscom.acceleration.z = 0; poscom.yaw = 0; poscom.jerk.x=0; poscom.jerk.y=0; poscom.jerk.z=0; local_pos_pub3.publish(poscom); // tf::Quaternion q = tf::createQuaternionFromRPY(0, 0, 0.5); // msg.type_mask = msg.IGNORE_ROLL_RATE || msg.IGNORE_PITCH_RATE || msg.IGNORE_YAW_RATE; // msg.orientation.x = q.x(); // msg.orientation.y = q.y(); // msg.orientation.z = q.z(); // msg.orientation.w = q.w(); // msg.thrust = 0.75; // local_pos_pub3.publish(msg); ros::spinOnce(); rate.sleep(); i++; } } 转成pyrhon

local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10) poscom = PositionCommand() rate = rospy.Rate(20.0) i = 0 while not rospy.is_shutdown(): poscom.position.x = 2.5 * ...

c++读取 yaml文件内容：：sensor: lidar: common: send_points_ros: true msg_source: 1 send_points_proto: false send_packets_ros: true lidar: - driver: use_lidar_clock: true difop_port: 7788 calibration: yaw: 0 roll: 0 pitch: 0 z: 0 y: 0 x: 0 msop_port: 6699 device_type: RS128 frame_id: /middle_lidar cut_angle: 0 device_ip: 192.168.1.200 timeout: 1000 multi_cast_address: !<!> 0.0.0.0 display: is_display: true color: b: 0 g: 0 r: 255 size: 1 ros: ros_recv_packets_topic: /middle/rslidar_packets ros_send_points_topic: /middle/rslidar_points ros_send_packets_topic: /middle/rslidar_packets ros_recv_points_topic: /middle/rslidar_points all_start: true name: !<!> 中激光

#include <iostream> #include <yaml-cpp/yaml.h> int main() { // 读取YAML文件 YAML::Node config = YAML::LoadFile("config.yaml"); // 获取sensor节点下的lidar节点 YAML::Node lidar = config["sensor"]...

优化这个函数的效率void common_pack::calculateQuaternionsForEachPoint(std::vector<autoware_msgs::Waypoint> &path) { Eigen::Quaterniond q; for (size_t i = 0; i + 1 < path.size(); i++) { autoware_msgs::Waypoint p_c = path[i]; autoware_msgs::Waypoint p_n = path[i + 1]; double yaw = std::atan2(p_n.pose.pose.position.y - p_c.pose.pose.position.y, p_n.pose.pose.position.x - p_c.pose.pose.position.x); Eigen::AngleAxisd rollangle(0, Eigen::Vector3d::UnitX()); Eigen::AngleAxisd yawangle(yaw, Eigen::Vector3d::UnitZ()); Eigen::AngleAxisd pitchangle(0, Eigen::Vector3d::UnitY()); q = rollangle * yawangle * pitchangle; path.at(i).pose.pose.orientation.x = q.x(); path.at(i).pose.pose.orientation.y = q.y(); path.at(i).pose.pose.orientation.z = q.z(); path.at(i).pose.pose.orientation.w = q.w(); } if (path.size() > 2) { path.at(path.size() - 1).pose.pose.orientation = path[path.size() - 2].pose.pose.orientation; } }

void common_pack::calculateQuaternionsForEachPoint(std::vector<autoware_msgs::Waypoint> &path) { Eigen::Quaterniond q; Eigen::AngleAxisd rollangle(0, Eigen::Vector3d::UnitX()); Eigen::AngleAxisd ...

error: could not convert ‘yaw’ from ‘char’ to ‘std::cxx11::string {aka std::cxx11::basic_string<char>}

这个错误是由于试图将一个 char 类型的变量 yaw 直接赋值给一个 std::string 类型的变量，造成了类型不匹配的错误。C++ 编译器无法自动将 char 类型转换为 std::string 类型，因此需要手动进行类型转换。你可以...

从C++ Eigen::Transform<double, 2, Eigen::Affine> 对象获取坐标x,y和角度yaw

Eigen::Transform<double, 2, Eigen::Affine> transform = ...; // 从某处获取Transform对象 Eigen::Vector2d translation = transform.translation(); // 获取平移向量 double x = translation.x(); // 获取x坐标 ...

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在c++中 << "act_yaw: " << act_yaw

static inline double getYaw(const geometry_msgs::Quaternion& msg_q){ Quaternion bt_q; quaternionMsgToTF(msg_q, bt_q); return getYaw(bt_q); }

error: could not convert ‘yaw’ from ‘char’ to ‘std::__cxx11::string {aka std::__cxx11::basic_string<char>}

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error: could not convert ‘yaw’ from ‘char’ to ‘std::cxx11::string {aka std::cxx11::basic_string<char>}