Comments (8)
您好,我想问一下在path_planning_demo.cpp中,位置为什么要这么处理呢?
pose.pose.position.x = (path.at(i).y - mapSize/2)*resolution;
pose.pose.position.y = (mapSize/2 - path.at(i).x)*resolution;
是跟坐标系有关系吗?
应该是根据grid的x/y求metric的位姿x/y
from grid_map_yh.
请问这里的grid和metric分别是什么的?
from grid_map_yh.
请问这里的grid和metric分别是什么的?
抽象栅格 to 真实坐标,需要乘分辨率
from grid_map_yh.
请问,他这个的坐标是距离目标点的坐标吗?我把路径点的坐标进行输出,然后最后一个点是(0,0)?
请问是这样理解的吗?
from grid_map_yh.
是不是因为,这个地图是以机器人为中心,所以最后一个点是(0,0)呢
from grid_map_yh.
请问,他这个的坐标是距离目标点的坐标吗?我把路径点的坐标进行输出,然后最后一个点是(0,0)?
请问是这样理解的吗?
细节我真的忘了...
from grid_map_yh.
是不是因为,这个地图是以机器人为中心,所以最后一个点是(0,0)呢
显而易见,localmap 肯定是以机器人自己为中心啊
from grid_map_yh.
好的,感谢您,思路更清晰了!
from grid_map_yh.
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from grid_map_yh.