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    自动回充问题求解答

    ROS教程
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    • cams
      cams last edited by

      1.发射区域
      说明中分了4块区域左侧区域,右侧区域,中间区域,区域内的值为4,1,2,3(重合区),请问下,4这个值是广角红外发射的值,会出现在左侧区域,右侧区域,中间区域中吗?
      2.位姿计算
      机器人的坐标原点在哪里?
      下面代码的变换过程能用图表解释下吗?
      void DockController::caculatePose3()
      {
      float theta1, theta2, x, y, theta;

      tf::Quaternion q1(mPose1_.orientation.x, mPose1_.orientation.y, mPose1_.orientation.z, mPose1_.orientation.w);
      tf::Matrix3x3 m1(q1);
      double roll, pitch, yaw;
      m1.getRPY(roll, pitch, yaw);
      theta1 = yaw;
      
      tf::Quaternion q2(mPose1_.orientation.x, mPose1_.orientation.y, mPose1_.orientation.z, mPose1_.orientation.w);
      tf::Matrix3x3 m2(q2);
      m2.getRPY(roll, pitch, yaw);
      theta2 = yaw;
      
      x = (mPose1_.position.x + mPose2_.position.x) / 2.0f;
      y = (mPose1_.position.y + mPose2_.position.y) / 2.0f;
      theta = (theta1 + theta2) / 2.0f;
      
      mPose3_[0] = x - back_distance_ * cos(theta);
      mPose3_[1] = y - back_distance_ * sin(theta);
      mPose3_[2] = theta;
      //ROS_DEBUG("theta12  %f  %f x1 y1 %f %f x2 y2 %f %f ", theta1, theta2, mPose1_.position.x, mPose1_.position.y,
      //            mPose2_.position.x, mPose2_.position.y);
      

      3.}

      1. 0.3;//多少度?
        if (mdock__referenss_position_ == DOCK_POSITION::left_center)
        {
        //右转
        current_vel.angular.z = -0.3;//多少度?
        }
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