planner.calculateSpeed(distance_to_target, max_speed, max_acceleration)
时间: 2023-12-03 19:02:27 浏览: 35
`planner.calculateSpeed(distance_to_target, max_speed, max_acceleration)` 是一个示例代码中的函数调用,用于计算机器人在行驶过程中的速度控制量。具体实现方法与使用的路径规划算法相关,以下是一个简单的示例实现:
```
double PathPlanner::calculateSpeed(double distance_to_target, double max_speed, double max_acceleration)
{
// 计算所需的最大速度
double max_speed_required = std::sqrt(2.0 * max_acceleration * distance_to_target);
// 限制速度在最大速度范围内
double speed_control = std::min(max_speed_required, max_speed);
return speed_control;
}
```
这个函数使用了一个基本的物理公式,用于计算机器人在行驶过程中的最大速度,然后将其限制在最大速度范围内,以得到速度控制量。需要注意的是,这只是一个简单的示例实现,实际应用中还需要根据具体的应用场景进行优化和改进。
相关问题
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);
}
base_local_planner中的max_vel_theta
在ROS中,base_local_planner是用于实现机器人局部路径规划的库。max_vel_theta是base_local_planner中的一个参数,表示机器人在执行旋转时允许的最大角速度。这个参数的值通常根据机器人的实际情况来设置,比如机器人的最大角速度、加速度等,以确保机器人在执行路径时不会超过其能力范围。如果机器人转得太快,可能会导致机器人失控或者路径跟踪出现误差。因此,合理设置max_vel_theta可以有效提高机器人的路径跟踪性能。