在上一篇文章中,我们得到的轨迹并不是很好,与路径差别有点大,我们期望规划出的轨迹跟路径大致重合,而且不希望有打结的现象,而且希望轨迹中的速度和加速度不超过最大限幅值.为了解决这些问题有两种思路: 思路一:把这些”期望“加入到优化问题中.    思路二:调整时间分配,来避免这些问题.1.corridor1.1 corridor是什么? 为了限制轨迹的形状,引入了corridor的概念,corridor可以理解为可行通道,如下图,规划出的轨迹必须在corridor内.直观的思路是:如果能把corri

一. 轨迹规划是什么? 在机器人导航过程中,如何控制机器人从A点移动到B点,通常称之为运动规划.运动规划一般又分为两步: 1.路径规划:在地图(栅格地图.四\八叉树.RRT地图等)中搜索一条从A点到B点的路径,由一系列离散的空间点(waypoint)组成. 2.轨迹规划:由于路径点可能比较稀疏.而且不平滑,为了能更好的控制机器人运动,需要将稀疏的路径点变成平滑的曲线或稠密的轨迹点,也就是轨迹. 2. 轨迹是什么?注意低次项在前 轨迹一般用n阶多项式(polynomial)来表示,即 其中p0,p

如果QP问题只有等式约束没有不等式约束,那么是可以闭式求解(close form)的.闭式求解效率要快很多,而且只需要用到矩阵运算,不需要QPsolver. 这里介绍Nicholas Roy文章中闭式求解的方法. 1. QP等式约束构建 闭式法中的Q 矩阵计算和之前一样(参照文章一),但约束的形式与之前略为不同,在之前的方法中,等式约束只要构造成[...]p=b的形式就可以了,而闭式法中,每段poly都构造成 其中d0,dT为第i段poly的起点和终点的各阶导数组成的向量,比如只考虑PVA:,当

车表盘就是有刻度的圆盘加上针,这个控件可以直观让用户知道当前的速度或其他 看名字不知道是什么,我就放一张图 使用很简单,在Nuget,Radial Gauge 要使用大神做的,简单,在使用我们需要在Nuget下载,然后在引用xmlns:controls="using:WinRTXamlToolkit.Controls" 我们需要知道每个值是什么 tick:最上面表盘,我们可以修改颜色TickBrush,我们颜色可以用SolidColorBrush.ImageBrush.LinearGr

近几年,不少人开始找人拼车上下班,这样不仅能减少车辆开支,同时也能为缓解交通拥堵贡献一份力量.在国外,不少城市都在交通高峰时段为这一类车辆开设专用车道,叫做HOV lane.

http://codeforces.com/problemset/problem/158/B B. Taxi time limit per test 3 seconds memory limit per test 256 megabytes input standard input output standard output After the lessons n groups of schoolchildren went outside and decided to visit Polyca

题目描述 N (1 <= N <= 50,000) cows conveniently numbered 1..N are driving in separate cars along a highway in Cowtopia. Cow i can drive in any of M different high lanes (1 <= M <= N) and can travel at a maximum speed of S_i (1 <= S_i <= 1,00

Creative Snap C. Creative Snap time limit per test 1 second memory limit per test 256 megabytes input standard input output standard output Thanos wants to destroy the avengers base, but he needs to destroy the avengers along with their base. Let we

一,代码. - (void)viewDidLoad { [super viewDidLoad]; // Do any additional setup after loading the view. NSLog(@"------%d------",[self isValidateEmail:@"12345"]); NSLog(@"------%d------",[self isValidateMobile:@"12345"])

Given a non-empty integer array, find the minimum number of moves required to make all array elements equal, where a move is incrementing a selected element by 1 or decrementing a selected element by 1. You may assume the array's length is at most 10

Given a non-empty integer array of size n, find the minimum number of moves required to make all array elements equal, where a move is incrementing n - 1 elements by 1. Example: Input: [1,2,3] Output: 3 Explanation: Only three moves are needed (remem

There are a number of spherical balloons spread in two-dimensional space. For each balloon, provided input is the start and end coordinates of the horizontal diameter. Since it's horizontal, y-coordinates don't matter and hence the x-coordinates of s

For a undirected graph with tree characteristics, we can choose any node as the root. The result graph is then a rooted tree. Among all possible rooted trees, those with minimum height are called minimum height trees (MHTs). Given such a graph, write

Given an array of n positive integers and a positive integer s, find the minimal length of a subarray of which the sum ≥ s. If there isn't one, return 0 instead. For example, given the array [2,3,1,2,4,3] and s = 7,the subarray [4,3] has the minimal

Follow up for "Find Minimum in Rotated Sorted Array":What if duplicates are allowed? Would this affect the run-time complexity? How and why? Suppose a sorted array is rotated at some pivot unknown to you beforehand. (i.e., 0 1 2 4 5 6 7 might be

Suppose a sorted array is rotated at some pivot unknown to you beforehand. (i.e., 0 1 2 4 5 6 7 might become 4 5 6 7 0 1 2). Find the minimum element. You may assume no duplicate exists in the array. 这道寻找旋转有序数组的最小值肯定不能通过直接遍历整个数组来寻找,这个方法过于简单粗暴,这样的话,旋不

Given a binary tree, find its minimum depth. The minimum depth is the number of nodes along the shortest path from the root node down to the nearest leaf node. 二叉树的经典问题之最小深度问题就是就最短路径的节点个数,还是用深度优先搜索DFS来完成,万能的递归啊...请看代码: /** * Definition for binary tre

Given a string S and a string T, find the minimum window in S which will contain all the characters in T in complexity O(n). For example,S = "ADOBECODEBANC"T = "ABC" Minimum window is "BANC". Note:If there is no such window i

Minimum Cut Time Limit: 10000MS   Memory Limit: 65536K Total Submissions: 9302   Accepted: 3902 Case Time Limit: 5000MS Description Given an undirected graph, in which two vertices can be connected by multiple edges, what is the size of the minimum c

problem description: Given a binary tree, find its minimum depth. The minimum depth is the number of nodes along the shortest path from the root node down to the nearest leaf node. problem analysis: 第一步,设计演算法:遍历一棵树的方法有两种,BFS and DFS,思考了下,BFS是一圈一圈的扩张出