完善Detour状态估计与轨迹跟踪验证

2026-08-19 17:38:17 +08:00
parent d8de901a80
commit 0d5539e595
55 changed files with 4473 additions and 387 deletions
@@ -0,0 +1,50 @@
+{
+  "WheelConfig": {
+    "LeftFront": {
+      "Position": {
+        "X": 525.0,
+        "Y": 200.0
+      },
+      "WheelDistance": 85.0,
+      "AngleLowerLimit": -128.0,
+      "AngleUpperLimit": 172.0,
+      "IsDiffWheel": true
+    },
+    "RightFront": {
+      "Position": {
+        "X": 525.0,
+        "Y": -200.0
+      },
+      "WheelDistance": 85.0,
+      "AngleLowerLimit": -128.0,
+      "AngleUpperLimit": 172.0,
+      "IsDiffWheel": true
+    },
+    "LeftRear": {
+      "Position": {
+        "X": -525.0,
+        "Y": 200.0
+      },
+      "WheelDistance": 85.0,
+      "AngleLowerLimit": -126.0,
+      "AngleUpperLimit": 174.0,
+      "IsDiffWheel": true
+    },
+    "RightRear": {
+      "Position": {
+        "X": -525.0,
+        "Y": -200.0
+      },
+      "WheelDistance": 85.0,
+      "AngleLowerLimit": -130.0,
+      "AngleUpperLimit": 170.0,
+      "IsDiffWheel": true
+    }
+  },
+  "MinimumTurningAngleForAckermann": 60.0,
+  "ControlPointRadius": 500.0,
+  "MaxSpeed": 1.0,
+  "AccPerSecond": 0.3,
+  "DeAccPerSecond": 1.0,
+  "MinTurnSpeedFac": 0.25
+}