帮我翻译3.Power steering pump 4.Pressure tube 1.Fluid lines 7.Pinion gear 6.Rack 2.Rotary control valve 5.Tie rod 8.Hydraulic piston

1. Fluid lines：液压管路
2. Rotary control valve：旋转控制阀
3. Power steering pump：动力转向泵
4. Pressure tube：压力管
5. Tie rod：连杆
6. Rack：齿条
7. Pinion gear：小齿轮
8. Hydraulic piston：液压活塞

相关问题

ax.plot( Xs, [0] * FLAGS.data_length, 'b', lw=3, alpha=0.5, label='steering')

### 回答1：

我不知道怎么回答这个问题，但是我可以尝试解释 Xs, b, lw, alpha, label 和 FLAGS.data_length 这些参数的含义。Xs 代表 x 轴的数据，[0] * FLAGS.data_length 代表 y 轴的数据，b 代表图表的粗细，lw 代表线宽，alpha 代表透明度，label 代表图表的标签，而 FLAGS.data_length 代表数据长度。

### 回答2：
这段代码是使用matplotlib库中的plot函数绘制图形，并设置了一些参数。具体解释如下：

1. ax.plot：表示使用ax对象调用plot函数进行绘图操作。

2. Xs：表示横坐标的数据，它是一个一维数组或列表。

3. [0] * FLAGS.data_length：表示纵坐标的数据，由0重复FLAGS.data_length次构成，即纵坐标全为0。

4. 'b'：表示线条的颜色，这里的'b'代表蓝色。

5. lw=3：表示线条的宽度，这里设置为3个像素。

6. alpha=0.5：表示线条的透明度，这里设置为0.5，即半透明。

7. label='steering'：表示给线条添加标签，这里的标签为'steering'，用于图例的显示。

综上所述，这段代码的作用是绘制一条蓝色的线条，线条在横坐标Xs上，纵坐标全为0，线条宽度为3像素，透明度为0.5，同时添加了标签'steering'。

### 回答3：
这段代码是用来绘制一个线性图形。函数`ax.plot`用于将给定的数据绘制为一个图形，并可以选择不同的样式和属性进行定制。

其中，`Xs`是要绘制的数据点的横坐标，`[0] * FLAGS.data_length`是纵坐标，表示所有数据点的纵坐标都为0。这意味着绘制的是一条直线，纵坐标始终为0。

参数`'b'`表示绘制的线条颜色为蓝色（blue），`lw=3`表示线的宽度为3个单位，`alpha=0.5`表示线的透明度为0.5。此外，`label='steering'`是添加一个图例，标识该线条为"steering"。

综上所述，这段代码的作用是在一个坐标系上绘制一条蓝色直线，所有数据点的纵坐标为0，线宽为3个单位，透明度为0.5，并添加一个图例标识为"steering"。

global_planner_params.yaml参考文件

# Global Planner Parameters

# maximum distance to the goal point
goal_distance_tolerance: 0.1

# maximum allowed numerical error for goal position
xy_goal_tolerance: 0.2

# maximum allowed numerical error for goal orientation
yaw_goal_tolerance: 0.3

# weight for the heuristic function used in the A* algorithm
# higher values prefer straighter paths, lower values prefer paths with less turning
heuristic_weight: 3.0

# minimum distance to travel before attempting to replan
min_replan_distance: 1.0

# minimum amount of time to wait before attempting to replan
min_replan_time: 1.0

# tolerance on the robot's heading (in radians) when planning
# during rotation commands this is an additional error that gets added to
# yaw_goal_tolerance
heading_lookahead: 0.325

# minimum lookahead to do during path planning. A shorter lookahead is more
# cautious (especially in tight spaces) but may be more effective at avoiding
# collisions with complex obstacles
min_lookahead_distance: 0.4

# maximum lookahead to do during path planning
max_lookahead_distance: 2.0

# if true, the global planner will only plan one step at a time
# rather than to the final goal state
intermediate_planning: false

# what topic the planner should use for status feedback
planner_frequency: 0.5
planner_topic: "planner_status"

# how close the robot must be to the global plan before updating it with
# a new one
plan_update_distance: 0.5

# how often the planner should be allowed to make new plans. A value of 0
# means plans will be made as often as possible
planner_patience: 5.0

# penalty for robot rotation during path planning. A higher penalty will
# cause the planner to prefer straighter paths with less turns
rotation_penalty: 0.8

# maximum absolute rotation speed allowed while navigating along the global
# plan
max_rotation_speed: 1.0

# maximum speed to travel along the global plan
max_velocity: 0.6

# If true, the global planner will try to avoid obstacles with a combination
# of steering and braking. Otherwise, it will only steer around obstacles
braking_enabled: true

# how many times to retry a goal update if the previous attempt resulted in a
# collision or other error.
# If set to -1, it will retry indefinitely
goal_update_retries: 3

# Whether or not to use the extrinsic rotation control method in the planner
use_extrinsic_rotation: true

# Enabling this parameter causes the global planner to use
# differential constraints for smoother trajectories
use_differential_constraints: true

# Enabling this parameter causes the planner to assume the
# robot is driving on the right-hand side of the street
drive_on_right: true

# Timeout for the planning process (in seconds). If planning takes longer
# than this, the planner will abort and return a failure status
planning_timeout: 5.0

# If set, this parameter limits the maximum planning distance the
# planner will use. Set to -1 for no limit.
max_planning_distance: -1

# Enabling this parameter causes the planner to ignore the robot's ground
# clearance when planning.
ignore_ground_clearance: false

# Whether the planner should try to avoid going backwards
avoid_going_backwards: false

# The maximum distance (in meters) that the planner will consider changing
# the orientation of the robot to better follow the path. Set to -1 to
# disable this behavior.
max_orientation_change: 0.9

# The minimum distance (in meters) that the planner will consider
# detecting a change in orientation of the robot to better follow the path.
# Set to -1 to disable this behavior.
min_orientation_change: 0.5

# Whether the planner should attempt to use the current local plan when planning.
# If set to true, the planner will attempt to connect the current local plan
# to the new plan. If set to false, the planner will always start from the robot's
# current pose.
use_local_plan: true

# Whether the planner should attempt to use the current local costmap when planning.
# If set to true, the planner will use the local costmap to build an estimate
# of the robot's surroundings. If set to false, the planner will only use the
# global costmap.
use_local_costmap: true

# Whether the planner should use the old behavior of setting waypoints to
# the right of the global plan. This behavior causes the robot to execute
# the plan with a rightward shift. However, it can be problematic if the plan
# encounters obstacles on the left side.
use_typical_rightward_shift: false

# Whether the planner should use a zero velocity as a way to avoid oscillations.
# If set to true, the planner will stop the robot and wait for the current goal
# to either become unreachable or within the goal tolerance.
stop_when_goal_rejected: false

# The time (in seconds) that the planner will stop and wait (in case of oscillations)
# before trying to replan.
stop_and_wait_time: 2.0

# Distance (in meters) to be left before the end of the path. This can be useful
# when the robot should stop at a certain distance from the goal pose.
path_distance_offset: 0

# Maximum allowed speed deviation from the global plan (in m/s).
max_allowed_speed_deviation: 1.0

# Maximum allowed angular deviation from the global plan (in rad).
max_allowed_angular_deviation: 1.57

# Whether or not to use a linear navigation function to bias global plan costs toward closer parts of the map.
use_linear_navigation_function: false

# Whether or not to use a terrain independent cost scale to bias global plan costs toward flatter regions.
use_terrain_independent_cost_scale: true

# The maximum number of obstacles to check against during planning.
max_obstacle_check_count: 500

# If true, the planner will skip planning during the first update cycle after initialization.
skip_initial_planning: false

# Scaling factor for the distances used in the Adaptive Sampling Path algorithm
as_scaler: 1.0

# The maximum length of the Adaptive Sampling Path segments
as_max_segment_length: 1.0

# The turning radius for the robot used in the prediction step of the Adaptive Sampling Path algorithm
as_robot_radius: 0.3

# The number of areas forward used for heading smoothing in the Adaptive Sampling Path algorithm.
# Set to 0 if heading smoothing is not desired.
as_heading_smoothing_areas: 0

# The maximum distance the Adaptive Sampling Path algorithm will plan for.
# Set to -1 for no limit.
as_max_global_plan_distance: -1

# How many layers of costmaps to plan in. A higher value will allow the global
# planner to take into account more layers of static and dynamic obstacles.
# 0 means only use the base global costmap.
planning_layers: 0