Comments (2)
原代码也是6.75°,但是根据程序英文介绍以及对应论文,都应该是5°才对,我看到您在这里也留了注释,不知道您是否了解?
// R = 6, 6.75 DEG: 当R=6时,每个方向的变化量 const float Node3D::dy[] = { 0, -0.0415893, 0.0415893}; const float Node3D::dx[] = { 0.7068582, 0.705224, 0.705224}; const float Node3D::dt[] = { 0, 0.1178097, -0.1178097};
您好可以发一下对应的论文名字吗,谢谢您
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这里是根据车辆运动学解算的,dx和dy是车辆自身坐标系。假设一次节点扩展,小车转向角变化为6.75度,对应弧度为0.1178097,根据车辆运动学模型,小车做圆周运动,圆周运动的半径为r=6 (constans::r),则弧长为 弧度*半径 = 0.1178097 * 6 = 0.7068582,正好是小车不转向的行驶距离。
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