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    自动回充源码阅读

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    • 读剑
      读剑 last edited by

      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]);
      
      
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      • xiaoqiang
        xiaoqiang last edited by 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 1 Reply Last reply Reply Quote 0
        • 读剑
          读剑 @xiaoqiang last edited by

          @xiaoqiang 好的感谢

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