function yaw_ref = spline_cal_yawRef(X,t,s,current_region) a = s.coefs(current_region,1); b = s.coefs(current_region,2); c = s.coefs(current_region,3); dx = t - X(current_region); yaw_ref = atan(c + 2*b*dx + 3*a*dx*dx);
时间: 2024-03-30 21:37:40 浏览: 12
这段代码是根据样条插值拟合曲线计算给定时间t下的参考偏航角yaw_ref。输入参数包括有序的时间数组X、时间t、三次样条插值结果s以及当前时间t对应的插值区间current_region。
该函数首先从三次样条插值结果s中获取当前插值区间current_region对应的三次多项式系数a、b、c。然后,计算当前时间t与插值区间起始时间X(current_region)的时间差dx,并根据三次多项式计算当前时间t下的参考偏航角yaw_ref。
具体来说,偏航角yaw_ref的计算公式为:yaw_ref = atan(c + 2*b*dx + 3*a*dx*dx),其中atan是反正切函数。这个公式表示了在当前插值区间内,偏航角随时间的变化关系。
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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); }
/**
* @brief Callback function for dynamic reconfiguration of DWA planner parameters
*
* @param config Reference to the configuration object that stores the updated parameters
* @param level The level of reconfiguration, unused in this function
*/
void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) {
// If the setup has been completed and restore_defaults flag is set, restore default configuration
if (setup_ && config.restore_defaults) {
config = default_config_;
config.restore_defaults = false;
}
// If setup has not been completed, store default configuration and set the setup flag to true
if ( ! setup_) {
default_config_ = config;
setup_ = true;
}
// Update generic local planner parameters
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;
// Call reconfigureCB function of the planner_util_ object with updated limits and restore_defaults flag
planner_util_.reconfigureCB(limits, config.restore_defaults);
// Call reconfigure function of the dp_ object with updated configuration
dp_->reconfigure(config);
}
rotate_z_rad = q.yaw_pitch_roll[0] 用c++写出来
以下是使用 C++ 语言将 `rotate_z_rad` 赋值为 `q.yaw_pitch_roll[0]` 的示例代码:
```
// 假设 q 是一个包含欧拉角的四元数对象
double rotate_z_rad = q.yaw_pitch_roll[0];
```
其中,`rotate_z_rad` 是一个 `double` 类型的变量,它存储了 `q` 对象中的偏航角(即绕 z 轴旋转的角度)。`q.yaw_pitch_roll[0]` 则是一个包含欧拉角的数组,其中下标为 0 的元素表示偏航角。