笔记2017-06-26

//-----------------------计算机器人曲率--------------------------------------------------

*output_kappa = calcCurvature(next_target_position_);                                                             //机器人曲率计算 参考公式R=L^2/(2*x)

//---------------- 发布机器人速度---------------------------

ts.twist.linear.x = can_get_curvature ? computeCommandVelocity() : 0;                                 //给定线速度

ts.twist.angular.z = can_get_curvature ? kappa * ts.twist.linear.x : 0;                                       //给定角速度

//----------------------------------路径跟随--------------------------

waypoint_follower::ControlCommandStamped ccs;            // way_following

 ccs.header.stamp = ros::Time::now();
ccs.cmd.linear_velocity = can_get_curvature ? computeCommandVelocity() : 0;                //计算机器人的线速度
 ccs.cmd.steering_angle = can_get_curvature ? convertCurvatureToSteeringAngle(wheel_base_, kappa) : 0;                //计算机器人的转角，wheel_base为车的轴距

convertCurvatureToSteeringAngle(){}

return atan(wheel_base * kappa);                                                                                                 //参考公式theta=arctan(H/R)

//----------------------------------------------------------

dtlane.msg:

float64     dist

float64     dir

float64     apara

float64     r

float64     slope

float64     cant

float64     lw

float64     rw

geometry_msgs/PoseStamped:          //坐标 xyz   四元数

std_msgs/Header   header

geometry/Pose       pose

geometry_msgs/TwistStamped:

Header            header

Twist                twist                                 //控制

waypoint.msg  :          

geometry_msgs/PoseStamped  pose     

geometry_msgs/TwistStamped  twist

dtlane   dtlane  

int32      change_flag

lane.msg:

Header       header

int32            increment

waypoint[]   waypoints

LaneArray.msg:

lane[]          lanes

ControlCommand.msg:

float64        linear_velocity

float64        steering_angle

ControlCommandStamped.msg:

Header        header

ControlCommand   cmd