54 lines
1.2 KiB
Plaintext
54 lines
1.2 KiB
Plaintext
编译命令：
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powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
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1. TrajectoryPoint.cs 已完成
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2. Trajectory2D.cs 下一步
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3. TrajectoryProjection.cs 定义一次投影结果
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4. TrajectoryProjector.cs 实现连续线段投影
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5. TrajectoryBuilder.cs 原始离散点转标准轨迹
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1. VehicleState.cs
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↓
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2. FirstOrderLowPassFilter.cs
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↓
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3. VelocityEstimator2D.cs
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↓
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4. IVehicleStateProvider.cs
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↓
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5. DetourVehicleStateProvider.cs
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private const double LinearVelocityFilterTimeConstantSeconds =
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0.15;
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private const double AngularVelocityFilterTimeConstantSeconds =
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0.20;
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PathTrackingContext.cs
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LateralControlCommand.cs
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ILateralController.cs
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ILongitudinalController.cs
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GcpMotionCommand.cs
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AckermannGcpAllocator.cs
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StanleyLateralController.cs
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PidLongitudinalController.cs
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GcpCommandExecutor.cs
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ParkingGeometricController.cs
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把前后GCP转角分解成两个模态：
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共同转角 = (前GCP转角 + 后GCP转角) / 2
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差动转角 = (前GCP转角 - 后GCP转角) / 2
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定义 FleetState
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至少包含：
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车队参考中心世界位姿
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车队整体世界/车队系速度
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采样时间
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状态是否可用
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成员相对布局误差 |