{"id":28708,"date":"2025-05-20T17:31:22","date_gmt":"2025-05-20T09:31:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28708"},"modified":"2025-05-20T17:31:22","modified_gmt":"2025-05-20T09:31:22","slug":"2025-05-20-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%ad%e5%9d%90%e6%a0%87%e5%8f%98%e5%8c%96%e5%9f%ba%e7%a1%80%e7%90%86%e8%ae%ba","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/20\/28708\/","title":{"rendered":"2025-05-20 \u81ea\u52a8\u9a7e\u9a76\u4e2d\u5750\u6807\u53d8\u5316\u57fa\u7840\u7406\u8bba"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.toutiao.com\/article\/7505704799000232460\/?channel=&source=news<\/a><\/p>\n\n\n\n

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–1 \u5750\u6807\u7cfb\u5b9a\u4e49\uff1a<\/h1>\n\n\n\n

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–2 \u5750\u6807\u7cfb\u53d8\u5316\u7684\u5e38\u7528\u64cd\u4f5c\uff1a<\/h1>\n\n\n\n

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–3 \u70b9\u53d8\u6362\u6570\u5b66\u8868\u8fbe\uff1a<\/h1>\n\n\n\n

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    –4 \u5750\u6807\u7cfb\u53d8\u6362\u6570\u5b66\u8868\u8fbe\uff1a<\/h1>\n\n\n\n

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      –5 \u8f66\u4f53\u5750\u6807\u7cfb\u548c\u4e16\u754c\u5750\u6807\u53d8\u6362\uff1a<\/h1>\n\n\n\n

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      import numpy as np\nimport matplotlib.pyplot as plt\nfrom matplotlib.patches import Rectangle, FancyArrow\n\n# \u5b9a\u4e49\u4e3b\u8f66\u548c\u76ee\u6807\u8f66\u7684\u53c2\u6570\nmain_car_length = 4  # \u4e3b\u8f66\u957f\u5ea6\nmain_car_width = 2  # \u4e3b\u8f66\u5bbd\u5ea6\nmain_car_dx = 1  # \u4e3b\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684x\u4f4d\u7f6e\nmain_car_dy = 1  # \u4e3b\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684y\u4f4d\u7f6e\nmain_car_theta = 30  # \u4e3b\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u671d\u5411\u89d2\u5ea6\uff08\u5ea6\uff09\n\ntarget_car_length = 4  # \u76ee\u6807\u8f66\u957f\u5ea6\ntarget_car_width = 2  # \u76ee\u6807\u8f66\u5bbd\u5ea6\ntarget_car_dx = 10  # \u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e2d\u7684x\u4f4d\u7f6e\ntarget_car_dy = 5  # \u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e2d\u7684y\u4f4d\u7f6e\ntarget_car_theta = 30  # \u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e2d\u7684\u671d\u5411\u89d2\u5ea6\uff08\u5ea6\uff09\n\n\n# \u5c06\u76ee\u6807\u8f66\u4ece\u8f66\u4f53\u5750\u6807\u7cfb\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb\ndef car_body_to_world(dx, dy, theta, main_car_dx, main_car_dy, main_car_theta):\n    # \u5c06\u89d2\u5ea6\u8f6c\u6362\u4e3a\u5f27\u5ea6\n    theta_rad = np.radians(theta)\n    main_car_theta_rad = np.radians(main_car_theta)\n\n    # \u65cb\u8f6c\u77e9\u9635\n    rotation_matrix = np.array(\n        [\n            [np.cos(main_car_theta_rad), -np.sin(main_car_theta_rad)],\n            [np.sin(main_car_theta_rad), np.cos(main_car_theta_rad)],\n        ]\n    )\n\n    # \u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6e\n    target_car_position_body = np.array([dx, dy])\n\n    # \u65cb\u8f6c\n    target_car_position_rel = rotation_matrix @ target_car_position_body\n\n    # \u5e73\u79fb\n    target_car_position_world = target_car_position_rel + np.array([main_car_dx, main_car_dy])\n\n    # \u76ee\u6807\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u671d\u5411\u89d2\u5ea6\n    target_car_theta_world = theta + main_car_theta\n\n    return target_car_position_world, target_car_theta_world\n\n\n# \u5c06\u76ee\u6807\u8f66\u4ece\u4e16\u754c\u5750\u6807\u7cfb\u8f6c\u6362\u5230\u8f66\u4f53\u5750\u6807\u7cfb\ndef car_world_to_body(x_w, y_w, theta_w, main_car_dx, main_car_dy, main_car_theta):\n    # \u5c06\u89d2\u5ea6\u8f6c\u6362\u4e3a\u5f27\u5ea6\n    main_car_theta_rad = np.radians(main_car_theta)\n\n    # \u9006\u65cb\u8f6c\u77e9\u9635\n    inverse_rotation_matrix = np.array(\n        [\n            [np.cos(main_car_theta_rad), np.sin(main_car_theta_rad)],\n            [-np.sin(main_car_theta_rad), np.cos(main_car_theta_rad)],\n        ]\n    )\n\n    # \u76ee\u6807\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6e\n    target_car_position_world = np.array([x_w, y_w])\n\n    # \u5e73\u79fb\n    target_car_position_rel = target_car_position_world - np.array([main_car_dx, main_car_dy])\n\n    # \u9006\u65cb\u8f6c\n    target_car_position_body = inverse_rotation_matrix @ target_car_position_rel\n\n    # \u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e2d\u7684\u671d\u5411\u89d2\u5ea6\n    target_car_theta_body = theta_w - main_car_theta\n\n    return target_car_position_body, target_car_theta_body\n\n\n# \u7ed8\u5236\u8f66\u8f86\ndef draw_car(ax, position, length, width, theta, color=\"blue\"):\n    # \u5c06\u89d2\u5ea6\u8f6c\u6362\u4e3a\u5f27\u5ea6\n    theta_rad = np.radians(theta)\n\n    # \u8ba1\u7b97\u77e9\u5f62\u7684\u56db\u4e2a\u89d2\n    corners = np.array(\n        [[-length \/ 2, -width \/ 2], [length \/ 2, -width \/ 2], [length \/ 2, width \/ 2], [-length \/ 2, width \/ 2]]\n    )\n\n    # \u65cb\u8f6c\u77e9\u5f62\n    rotation_matrix = np.array([[np.cos(theta_rad), -np.sin(theta_rad)], [np.sin(theta_rad), np.cos(theta_rad)]])\n    rotated_corners = corners @ rotation_matrix.T\n\n    # \u5e73\u79fb\u77e9\u5f62\n    translated_corners = rotated_corners + position\n\n    # \u7ed8\u5236\u77e9\u5f62\n    rect = Rectangle(position - np.array([length \/ 2, width \/ 2]), length, width, angle=theta, color=color, fill=False)\n    ax.add_patch(rect)\n\n    # \u7ed8\u5236\u822a\u5411\u7bad\u5934\n    arrow_length = 1.5\n    arrow_dx = arrow_length * np.cos(theta_rad)\n    arrow_dy = arrow_length * np.sin(theta_rad)\n    arrow = FancyArrow(position[0], position[1], arrow_dx, arrow_dy, color=color, width=0.2)\n    ax.add_patch(arrow)\n\n    # \u6807\u6ce8\u8f66\u8f86\u4f4d\u7f6e\u548c\u822a\u5411\n    ax.text(\n        position[0],\n        position[1] - 1,\n        f\"({position[0]:.2f}, {position[1]:.2f})\\n\u03b8={theta:.2f}\u00b0\",\n        fontsize=12,\n        color=color,\n    )\n\n\n# \u521b\u5efa\u56fe\u5f62\u548c\u8f74\nfig, ax = plt.subplots(figsize=(10, 10))\nax.set_xlim(-20, 20)\nax.set_ylim(-20, 20)\nax.set_aspect(\"equal\")\nax.grid(True)\n\n# \u7ed8\u5236\u4e3b\u8f66\nmain_car_position = np.array([main_car_dx, main_car_dy])\ndraw_car(ax, main_car_position, main_car_length, main_car_width, main_car_theta, color=\"red\")\n\n# \u8f66\u4f53\u5750\u6807\u7cfb\u5230\u4e16\u754c\u5750\u6807\u7cfb\ntarget_car_position_world, target_car_theta_world = car_body_to_world(\n    target_car_dx, target_car_dy, target_car_theta, main_car_dx, main_car_dy, main_car_theta\n)\ndraw_car(ax, target_car_position_world, target_car_length, target_car_width, target_car_theta_world, color=\"blue\")\n\n# \u4e16\u754c\u5750\u6807\u7cfb\u5230\u8f66\u4f53\u5750\u6807\u7cfb\ntarget_car_position_body, target_car_theta_body = car_world_to_body(\n    target_car_position_world[0],\n    target_car_position_world[1],\n    target_car_theta_world,\n    main_car_dx,\n    main_car_dy,\n    main_car_theta,\n)\ndraw_car(ax, target_car_position_body, target_car_length, target_car_width, target_car_theta_body, color=\"gray\")\n\n# \u6253\u5370\u4e3b\u8f66\u548c\u76ee\u6807\u8f66\u7684\u4fe1\u606f\nprint(f\"\u4e3b\u8f66\u7684\u4e16\u754c\u5750\u6807: ({main_car_dx}, {main_car_dy})\")\nprint(f\"\u4e3b\u8f66\u7684\u822a\u5411: {main_car_theta}\u00b0\")\nprint(f\"\u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e0b\u7684\u5750\u6807: ({target_car_dx}, {target_car_dy})\")\nprint(f\"\u76ee\u6807\u8f66\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e0b\u7684\u822a\u5411: {target_car_theta}\u00b0\")\nprint(f\"\u76ee\u6807\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u5750\u6807: ({target_car_position_world[0]:.2f}, {target_car_position_world[1]:.2f})\")\nprint(f\"\u76ee\u6807\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u822a\u5411: {target_car_theta_world:.2f}\u00b0\")\n\n# \u6dfb\u52a0\u56fe\u4f8b\nax.legend([\"Main Car\", \"Target Car in World\", \"Target Car in Body\"])\n\n# \u663e\u793a\u56fe\u5f62\nplt.show()<\/code><\/pre>\n\n\n\n
      –5.1 \u8f66\u4f53\u5750\u6807\u7cfb\u4e0b\u7684\u76ee\u6807\u53d8\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u8868\u8fbe\uff1a\u5148\u65cb\u8f6c\u518d\u5e73\u79fb\uff0c\u56e0\u4e3a\u4f60\u77e5\u9053\u7684\u662f\u4e3b\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u5750\u6807\uff0c\u8fd9\u4e2a\u65f6\u5019\u4f60\u5e0c\u671b\u5c06\u76ee\u6807\u8f66\u6240\u5c5e\u7684\u8f66\u4f53\u5750\u6807\u7cfb\u65cb\u8f6c\u53d8\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\uff0c\u7ed3\u5408\u4f60\u77e5\u9053\u7684\u4fe1\u606f\uff0c\u4f60\u9700\u8981\u5148\u65cb\u8f6c\u5230\u548c\u4e16\u754c\u5750\u6807\u7cfb\u4e00\u6837\u7684\u671d\u5411\uff0c\u7136\u540e\u518d\u6839\u636e\u4e3b\u8f66\u7684\u8f66\u4f53\u5750\u6807\u8fdb\u884c\u5e73\u79fb\u3002<\/p>\n\n\n\n
      –5.2 \u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u76ee\u6807\u8981\u5728\u8f66\u4f53\u5750\u6807\u7cfb\u4e0b\u8868\u8fbe\uff1a\u5148\u5e73\u79fb\u518d\u65cb\u8f6c\uff0c\u56e0\u4e3a\u4f60\u77e5\u9053\u7684\u662f\u4e3b\u8f66\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u5750\u6807\uff0c\u8fd9\u4e2a\u65f6\u5019\u4f60\u5e0c\u671b\u5c06\u76ee\u6807\u8f66\u6240\u5c5e\u7684\u4e16\u754c\u5750\u6807\u7cfb\u65cb\u8f6c\u53d8\u6362\u5230\u4e3b\u8f66\u4e0b\uff0c\u7ed3\u5408\u4f60\u77e5\u9053\u7684\u4fe1\u606f\uff0c\u5982\u679c\u4f60\u5148\u65cb\u8f6c\uff0c\u90a3\u4f60\u65cb\u8f6c\u4e4b\u540e\u7684\u9700\u8981\u7684\u5e73\u79fb\u503c\u5176\u5b9e\u4f60\u662f\u4e0d\u77e5\u9053\u7684\uff0c\u5b83\u548c\u4f60\u76ee\u524d\u77e5\u9053\u7684\u4e3b\u8f66\u5750\u6807\u4e0d\u662f\u4e00\u4e2a\u6570\uff0c\u56e0\u6b64\u4f60\u53ea\u80fd\u5148\u7528\u73b0\u5728\u77e5\u9053\u7684\u4e3b\u8f66\u5750\u6807\u5148\u5e73\u79fb\u518d\u65cb\u8f6c\u3002<\/p>\n\n\n\n
      \u7efc\u4e0a\uff1a<\/p>\n\n\n\n
        \n
      1. \u65cb\u8f6c + \u5e73\u79fb\u90fd\u662f\u5728\u73b0\u6709\u5750\u6807\u7cfb\u4e0b\u8fdb\u884c\u7684<\/li>\n\n\n\n
      2. \u65cb\u8f6c\u548c\u5e73\u79fb\u7684\u987a\u5e8f\uff0c\u53d6\u51b3\u4e8e\u4f60\u77e5\u9053\u7684\u5e73\u79fb\u5750\u6807\u662f\u54ea\u4e2a\u5750\u6807\u7cfb\u76f8\u5bf9\u4e8e\u54ea\u4e2a\u5750\u6807\u7cfb\u7684<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"
        \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.toutia […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27,1],"tags":[],"class_list":["post-28708","post","type-post","status-publish","format-standard","hentry","category-industry-trends","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28708"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=28708"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28708\/revisions"}],"predecessor-version":[{"id":28739,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28708\/revisions\/28739"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=28708"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=28708"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=28708"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}