共12个floattrajInitial[12]={_roll_des,//期望横滚角_pitch_des//期望俯仰角(float)stand_traj[...
trajAll[12 * i + 4] = trajAll[12 * (i - 1) + 4] + dtMPC * v_des_world[1]; trajAll[12 * i + 2] = trajAll[12 * (i - 1) + 2] + dtMPC * stateCommand.stateDes[11]; } #endif } } Vec3<float> pxy_act(p[0], p[1], 0); Vec3<float> pxy_des(world_positi...
(traj[(time+i)-j*length])\n"," return np.array(ref)\n","\n","def reorder_theta(traj, N, time):\n"," ref = []\n"," length = len(traj)\n"," for i in range(N):\n"," if time+i < length:\n"," ref.append(traj[time+i])\n"," else:\n"," j = 0\n"," ...
'''v1=xy_path_next-xy_path_prev v2=xy_query-xy_path_prev lat_error=np.cross(v1,v2)/np.linalg.norm(v1)returnlat_error 画轨迹路,画中画局部放大 import rospy import numpyasnp import matplotlib.pyplotasplt from gps_utils import ref_gps_trajasr from genesis_path_follower.msg import state_...
_parameters->use_jcqp);Timert2;update_problem_data_floats(p,v,q,w,r,yaw,weights,trajAll,...
(intj=0;j<12;j++)trajAll[12*i+j]=trajInitial[j];//也即状态方程中的状态变量X}else{constfloatmax_pos_error=.1;//轨迹跟踪误差floatxStart=world_position_desired[0];floatyStart=world_position_desired[1];//x,y值限制if(xStart-p[0]>max_pos_error)xStart=p[0]+max_pos_error;if(p[0]...