关于 twist的解释

toutou205 · toutou205 · commit 778acb8d6f8b · 2022-09-03T09:31:35.000+08:00
diff --git a/core_planning/twist_filter/src/twist_filter_node.cpp b/core_planning/twist_filter/src/twist_filter_node.cpp
@@ -57,7 +57,12 @@ TwistFilterNode::TwistFilterNode() : nh_(), pnh_("~"), health_checker_(nh_, pnh_
   // Enable health checker
   health_checker_.ENABLE();
 }
-
+/*
+关于 twist的解释
+linear.x指向机器人前方，linear.y指向左方，linear.z垂直向上满足右手系，平面移动机器人常常linear.y和linear.z均为0
+angular.z代表平面机器人的角速度，因为此时z轴为旋转轴
+reference： https://www.cnblogs.com/shang-slam/p/6891086.html
+*/
 void TwistFilterNode::configCallback(const autoware_config_msgs::ConfigTwistFilterConstPtr& config_msg)
 {
   twist_filter::Configuration twist_filter_config;

Original file line number	Diff line number	Diff line change
`@@ -57,7 +57,12 @@ TwistFilterNode::TwistFilterNode() : nh_(), pnh_("~"), health_checker_(nh_, pnh_`
`57`	`57`	`// Enable health checker`
`58`	`58`	`health_checker_.ENABLE();`
`59`	`59`	`}`
`60`		`-`
	`60`	`+/*`
	`61`	`+关于 twist的解释`
	`62`	`+linear.x指向机器人前方，linear.y指向左方，linear.z垂直向上满足右手系，平面移动机器人常常linear.y和linear.z均为0`
	`63`	`+angular.z代表平面机器人的角速度，因为此时z轴为旋转轴`
	`64`	`+reference： https://www.cnblogs.com/shang-slam/p/6891086.html`
	`65`	`+*/`
`61`	`66`	`void TwistFilterNode::configCallback(const autoware_config_msgs::ConfigTwistFilterConstPtr& config_msg)`
`62`	`67`	`{`
`63`	`68`	`twist_filter::Configuration twist_filter_config;`