自动回充源码阅读

[读剑]

请问自动回充包里面的getDockPosition.cpp中saveDockPositon函数里的station_distance_和dock_pose分别代表什么物理涵义？就是如何计算两个参考点的坐标？

       ROS_INFO("dock_position_saved  %f %f %f", dock_pose[0], dock_pose[1], dock_pose[2]);
        //(station_distance_,station_distance_) (station_distance_,-station_distance_)
        station_pose1[0] =
            dock_pose[0] + station_distance_ * cos(dock_pose[2]) - 0.5 * station_distance_ * sin(dock_pose[2]);
        station_pose1[1] =
            dock_pose[1] + station_distance_ * sin(dock_pose[2]) + 0.5 * station_distance_ * cos(dock_pose[2]);

        station_pose2[0] =
            dock_pose[0] + station_distance_ * cos(dock_pose[2]) + 0.5 * station_distance_ * sin(dock_pose[2]);
        station_pose2[1] =
            dock_pose[1] + station_distance_ * sin(dock_pose[2]) - 0.5 * station_distance_ * cos(dock_pose[2]);

[xiaoqiang]

station_distance_表示充电桩到两个参考点连线的最短距离，dock_pose表示充电桩位置[x,y,theta]。这句话就已经构造出了方程，然后就能反解算出两个参考点位置

[读剑]

@xiaoqiang 好的感谢