[FF_a(:,j),FF_r(:,j)] = compute_repulsion(P(:,i),Obs(:,j+1),Obs(:,1),Theta(:,i,j+1),Theta(:,i,1),m,po);

这段代码中，`compute_repulsion`函数计算从点`P(:,i)`到障碍物`Obs(:,j+1)`的斥力，其中`Obs(:,1)`是障碍物的中心位置，`Theta(:,i,j+1)`和`Theta(:,i,1)`是机器人当前角度和障碍物中心点的方向角度，`m`是斥力的常数，`po`是机器人半径。`FF_a(:,j)`和`FF_r(:,j)`分别是斥力的两个分量。

相关问题

给下列程序添加英文注释：namespace nav_core { /** * @class BaseGlobalPlanner * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. / class BaseGlobalPlanner{ public: /* * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @return True if a valid plan was found, false otherwise / virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0; /* * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @param cost The plans calculated cost * @return True if a valid plan was found, false otherwise / virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan, double& cost) { cost = 0; return makePlan(start, goal, plan); } /* * @brief Initialization function for the BaseGlobalPlanner * @param name The name of this planner * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning / virtual void initialize(std::string name, costmap_2d::Costmap2DROS costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseGlobalPlanner(){} protected: BaseGlobalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_GLOBAL_PLANNER_H

/**
* @file base_global_planner.h
* @brief Provides an interface for global planners used in navigation.
* All global planners written as plugins for the navigation stack must adhere to this interface.
*/

namespace nav_core {
/**
* @class BaseGlobalPlanner
* @brief Provides an interface for global planners used in navigation.
* All global planners written as plugins for the navigation stack must adhere to this interface.
*/
class BaseGlobalPlanner{
public:
/**
* @brief Given a goal pose in the world, compute a plan
* @param start The start pose
* @param goal The goal pose
* @param plan The plan... filled by the planner
* @return True if a valid plan was found, false otherwise
*/
virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;

/**
* @brief Given a goal pose in the world, compute a plan
* @param start The start pose
* @param goal The goal pose
* @param plan The plan... filled by the planner
* @param cost The plans calculated cost
* @return True if a valid plan was found, false otherwise
*/
virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan, double& cost) {
cost = 0;
return makePlan(start, goal, plan);
}

/**
* @brief Initialization function for the BaseGlobalPlanner
* @param name The name of this planner
* @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning
*/
virtual void initialize(std::string name, costmap_2d::Costmap2DROS costmap_ros) = 0;

/**
* @brief Virtual destructor for the interface
*/
virtual ~BaseGlobalPlanner(){}

protected:
BaseGlobalPlanner(){}
};
}; // namespace nav_core

#endif // NAV_CORE_BASE_GLOBAL_PLANNER_H

翻译代码： class AutocorrelationTest(Test):def init(self, seq_length: int ,shift: int = 1): # Generate base Test class self._shift = shift super(AutocorrelationTest, self).init(“Autocorrelation”, 0.01, seq_length) def _execute(self, bits: numpy.ndarray): """ Overridden method of Test class: check its docstring for further information. """ original_vector : numpy.ndarray = bits[:bits.size - self._shift] shifted_vector: numpy.ndarray = numpy.roll(bits, -self._shift)[:bits.size - self._shift] result_vector: numpy.ndarray = numpy.bitwise_xor(original_vector, shifted_vector) # Compute ones int result vector ones: int = numpy.count_nonzero(result_vector) tmp: float = 2 * (ones - (bits.size - self._shift) / 2.0) / math.sqrt(bits.size - self._shift) # Compute score score: float = math.erfc(abs(tmp) / (math.sqrt(2.0))) # Compute q_value q_value: float = math.erfc(tmp / (math.sqrt(2.0))) / 2.0 # Return result if score >= self.significance_value: return Result(self.name, True, numpy.array([score]), numpy.array([q_value])) return Result(self.name, False, numpy.array([score]), numpy.array([q_value])) def repr(self) -> str: return f’{self.name} (k={self._shift})

这段代码定义了一个类AutocorrelationTest，继承自Test类。它有两个参数：seq_length表示序列的长度，shift表示计算自相关系数时的偏移值，默认为1。在类的构造函数__init__中进行初始化。