return_t NO_UT _is_straight(bool_t *straight, float64_t straight_dist, float64_t straight_curvature) { nome_global_t *ng = get_nome_global(); vehicle_params_t *vp = get_vehicle_params(); if (!ng) return RET_FAILED; if (is_rcs_da... 这段代码定义了一个名为NO_UT _is_straig...