{"id":5128,"date":"2023-03-23T13:09:59","date_gmt":"2023-03-23T05:09:59","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/03\/23\/5128\/"},"modified":"2023-03-23T13:37:09","modified_gmt":"2023-03-23T05:37:09","slug":"%e7%bc%96%e8%be%91%e4%ba%8e-2023-03-22-1402%e3%83%bbip-%e5%b1%9e%e5%9c%b0%e6%b5%99%e6%b1%9f%e8%80%81%e7%8e%8b%e8%ae%b2%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%ef%bc%88%e8%a7%84%e5%88%92%e8%b7%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/03\/23\/5128\/","title":{"rendered":"2023-03-22\u8001\u738b\u8bb2\u7684\u81ea\u52a8\u9a7e\u9a76\uff08\u89c4\u5212\u8def\u5f84\u51b3\u7b56\u7b97\u6cd5\uff09"},"content":{"rendered":"<p>\u4e0a\u4e00\u8282\u7684\u53c2\u8003\u7ebf\u6a21\u5757\u63d0\u4f9b\u4e86\u5149\u6ed1\u7684frenet\u5750\u6807\u8f74<\/p>\n<p>\u89c4\u5212\u53c2\u8003\u7ebf\uff1a\u6b63\u4e49\u4e4b\u62f3\uff1a\u8001\u738b\u8bb2\u7684\u81ea\u52a8\u9a7e\u9a76\uff08\u89c4\u5212\u53c2\u8003\u7ebf\u6a21\u5757\uff09<\/p>\n<p>1\u3001\u786e\u5b9a\u89c4\u5212\u8d77\u70b9<\/p>\n<p>\u907f\u969c\u8fd8\u662f\u5f97\u5728\u81ea\u7136\u5750\u6807\u7cfb\u4e0b\u505a\uff0chost\u5411\u53c2\u8003\u7ebf\u6295\u5f71\u4e3a\u5750\u6807\u539f\u70b9\u5efa\u7acb\u81ea\u7136\u5750\u6807\u7cfb\uff0c<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-6600344a901966e41d95927b6351b060_b.jpg\" width=\"895\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"895\" data-rawheight=\"211\" data-original=\"https:\/\/pic1.zhimg.com\/v2-6600344a901966e41d95927b6351b060_r.jpg\" \/>\u6240\u6709\u969c\u788d\u7269\u90fd\u6295\u5f71\u5230\u81ea\u7136\u5750\u6807\u7cfb\u4e0b\u9762\uff0c\u751f\u6210SL\u56fe<\/p>\n<p>\u81ea\u8f66\u7684\u4f4d\u7f6e\u4e3a\uff080,l0\uff09\uff0c\u56e0\u4e3a\u5176\u5728\u539f\u70b9\u4e0a<\/p>\n<p>\u63a5\u4e0b\u6765\u5c31\u5f00\u59cb\u89c4\u5212\uff0c\u7b2c\u4e00\u6b65\u662f\u786e\u5b9a\u89c4\u5212\u7684\u8d77\u70b9<\/p>\n<p>\u5b9a\u4f4d\u5f97\u5230\u7684host_x\uff0chost_y\uff0c\u6295\u5f71referenceline\uff0c\u5f97\u5230SL\u5750\u6807(0,l0)\uff0c\u4ee5\u6b64\u70b9\u4e3a\u8def\u5f84\u89c4\u5212\u7684\u8d77\u70b9\uff0c\u8fd9\u4e48\u505a\u662f\u9519\u8bef\u7684\u3002<\/p>\n<p>\u56e0\u4e3a\u8003\u8651\u63a7\u5236\u662f\u4e0d\u5b8c\u7f8e\u7684<\/p>\n<p>\u89c4\u5212\u4ee5100ms\u5468\u671f\u6267\u884c\uff0c\u5728\u4e0a\u4e2a\u5468\u671f\u5df2\u7ecf\u89c4\u5212\u51fa\u8f68\u8ff9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-0d1658658b72f147aa46f94e4f37437e_b.jpg\" width=\"825\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"825\" data-rawheight=\"406\" data-original=\"https:\/\/pic3.zhimg.com\/v2-0d1658658b72f147aa46f94e4f37437e_r.jpg\" \/><\/p>\n<p>\u4ece\u63a7\u5236\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u89c4\u5212\u7684\u8f68\u8ff9\u662f\u5272\u88c2\u7684\uff0c\u4e00\u6bb5\u4e00\u6bb5\u4e0d\u8fde\u7eed\u7684<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-48f87b2bcfee87158c7fd5abda7a3d6b_b.jpg\" width=\"450\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"450\" data-rawheight=\"129\" data-original=\"https:\/\/pic4.zhimg.com\/v2-48f87b2bcfee87158c7fd5abda7a3d6b_r.jpg\" \/><\/p>\n<p>\u6b63\u786e\u7684\u505a\u6cd5\u662f<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-cbd27389fd2c1b87bd49c6103ba94437_b.jpg\" width=\"746\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"746\" data-rawheight=\"212\" data-original=\"https:\/\/pic4.zhimg.com\/v2-cbd27389fd2c1b87bd49c6103ba94437_r.jpg\" \/><\/p>\n<p>\u5224\u65adcurrent location\u4e0epre-period\u89c4\u5212\u7ed3\u679c\u662f\u5426\u8bef\u5dee\u592a\u5927<\/p>\n<p>\u5982\u679c\u8bef\u5dee\u592a\u5927\uff0c\u5c31\u4ee5current location\u6765\u6295\u5f71referenceline\uff0c\u4ee5\uff080,l0\uff09\u4e3a\u89c4\u5212\u8d77\u70b9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-669ff041624a372a99c4d44059f0dd5d_b.jpg\" width=\"586\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"586\" data-rawheight=\"144\" data-original=\"https:\/\/pic2.zhimg.com\/v2-669ff041624a372a99c4d44059f0dd5d_r.jpg\" \/><\/p>\n<p>\u82e5\u5dee\u522b\u4e0d\u5927\uff0c\u8981\u4e48\u5f53\u524d\u70b9\u6295\u5f71\u4e0a\u4e2a\u5468\u671f\u8f68\u8ff9\u5f97\u5230P\u70b9\uff0c\u8981\u4e48\u5e72\u8106\u76f4\u63a5\u62ff\u5f53\u524d\u70b9\u5f53P\u70b9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-3ede192869b67ad3bc5a7b1c7c37693a_b.png\" width=\"1553\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1553\" data-rawheight=\"229\" data-original=\"https:\/\/pic3.zhimg.com\/v2-3ede192869b67ad3bc5a7b1c7c37693a_r.jpg\" \/><\/p>\n<p>\u4ee5\uff08s0,l0\uff09\u4f5c\u4e3a\u89c4\u5212\u7684\u8d77\u70b9\u800c\u4e0d\u662f\u5b9a\u4f4d\u7684\u5750\u6807\u4f5c\u4e3a\u8d77\u70b9\uff0c\u6548\u679c\u600e\u4e48\u6837<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-4d40f1edd702f71a736db3be65082c6e_b.jpg\" width=\"524\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"524\" data-rawheight=\"174\" data-original=\"https:\/\/pic3.zhimg.com\/v2-4d40f1edd702f71a736db3be65082c6e_r.jpg\" \/><\/p>\n<p>\u4ece\u63a7\u5236\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u5c31\u662f\u4e00\u5c0f\u622a\u4e00\u5c0f\u622a\u7684\u591a\u6bb5\u9996\u5c3e\u8fde\u7eed\u7684\u8f68\u8ff9\u62fc\u63a5\u800c\u6210<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic4.zhimg.com\/v2-69661be576bfad4f31aba8fd656d470b_b.jpg\" width=\"345\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"345\" data-rawheight=\"253\" \/><\/p>\n<p>\u5982\u679c\u7528\u5b9a\u4f4d\u4f5c\u4e3a\u8f68\u8ff9\u7684\u8d77\u70b9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-18f286d7fbe8aca56c6bc2bc995b767a_b.png\" width=\"1220\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1220\" data-rawheight=\"153\" data-original=\"https:\/\/pic3.zhimg.com\/v2-18f286d7fbe8aca56c6bc2bc995b767a_r.jpg\" \/>SL\u56fe<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-b56e83fb0eab82af7356e89b41e4d83a_b.jpg\" width=\"697\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"697\" data-rawheight=\"265\" data-original=\"https:\/\/pic3.zhimg.com\/v2-b56e83fb0eab82af7356e89b41e4d83a_r.jpg\" \/><\/p>\n<p>\u641c\u7d22\u51fa\u4e00\u6761\u6700\u4f18\u8def\u5f84<\/p>\n<p>\u6700\u4f18\u4e00\u822c\u6709\u4ee5\u4e0b\u4e09\u4e2a\u6807\u51c6<\/p>\n<p>\uff081\uff09\u5e73\u6ed1<\/p>\n<p>\uff082\uff09\u548c\u969c\u788d\u7269\u4fdd\u6301\u9002\u5f53\u7684\u8ddd\u79bb<\/p>\n<p>\uff083\uff09\u8d34\u8fd1\u53c2\u8003\u7ebf<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-095dbbda02f413767ec72319dea58c31_b.jpg\" width=\"667\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"667\" data-rawheight=\"326\" data-original=\"https:\/\/pic2.zhimg.com\/v2-095dbbda02f413767ec72319dea58c31_r.jpg\" \/><\/p>\n<p>\u53ef\u4ee5\u7528\u4e8c\u6b21\u89c4\u5212\u89e3\u51b3<\/p>\n<p>cost function\uff1a\u5e73\u6ed1\u4ee3\u4ef7+\u53c2\u8003\u7ebf\u8ddd\u79bb\u4ee3\u4ef7+\u969c\u788d\u7269\u8ddd\u79bb\u4ee3\u4ef7<\/p>\n<p>\u5f88\u9057\u61be\uff1a\u907f\u969c\u95ee\u9898\u7684\u4e8c\u6b21\u89c4\u5212\u662f\u975e\u51f8\u7684\uff0ccost function\u6709\u591a\u4e2a\u6781\u5c0f\u503c\u70b9<\/p>\n<p>\u6bd4\u5982\uff0c\u4e0b\u9762\u8fd9\u4e2a\u8f66\u7ed5\u6811\u7684\u95ee\u9898\uff0c<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-dc073c511b0b4cc582218cd2116fa125_b.png\" width=\"851\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"851\" data-rawheight=\"131\" data-original=\"https:\/\/pic2.zhimg.com\/v2-dc073c511b0b4cc582218cd2116fa125_r.jpg\" \/><\/p>\n<p>\u4ee3\u4ef7\u51fd\u6570\u5982\u4e0b<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-4c8a70cfce816e1f1945700355185a01_b.jpg\" width=\"684\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"684\" data-rawheight=\"421\" data-original=\"https:\/\/pic2.zhimg.com\/v2-4c8a70cfce816e1f1945700355185a01_r.jpg\" \/><\/p>\n<p>\u5bf9\u4e8e\u975e\u51f8\u95ee\u9898\uff0c\u6ca1\u6709\u4e00\u4e2a\u5b8c\u7f8e\u7684\u89e3\u51b3\u65b9\u6848<\/p>\n<p>\u65b9\u6cd5\uff1a\u79bb\u6563\u5316\uff0c\u542f\u53d1\u5f0f\u641c\u7d22\u51fa\u4e00\u4e2a\u7c97\u89e3\uff0c\u4ee5\u7c97\u89e3\u4e3a\u57fa\u7840\u4f18\u5316\u51fa\u6700\u7ec8\u89e3<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-38d765853d839a7fa3c1516fa5ba74ca_b.jpg\" width=\"644\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"644\" data-rawheight=\"382\" data-original=\"https:\/\/pic3.zhimg.com\/v2-38d765853d839a7fa3c1516fa5ba74ca_r.jpg\" \/><\/p>\n<p>\u6492\u70b9\u79bb\u6563\u5316\uff0c\u7136\u540e\u5728\u7c97\u89e3\u9644\u8fd1\u8fed\u4ee3\u6c42\u89e3\uff0c\u770b\u5f80\u5de6\u7ed5\u8fd8\u662f\u5f80\u53f3\u7ed5\u6700\u5c0f\uff0c\u5982\u679c\u627e\u5230\u4e00\u4e2a\u6700\u5c0f\u503c\u5f80\u53f3\u7ed5\u7684\u51f8\u7a7a\u95f4\uff0c\u6211\u4eec\u5c31\u4ee5\u5f80\u53f3\u7ed5\u7684\u51f8\u7a7a\u95f4\u4f5c\u4e3a\u4e8c\u6b21\u89c4\u5212\u7684\u51f8\u7a7a\u95f4\u3002<\/p>\n<p>\u8fd9\u79cd\u65b9\u6cd5\u5e76\u4e0d\u5b8c\u7f8e\uff0c\u4f1a\u641c\u5230\u6b21\u4f18\u89e3\uff0c\u4f46\u662f\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e5f\u591f\u7528\u4e86<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-b4b022db50a510e3ca0c64c08434d61a_b.jpg\" width=\"1957\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1957\" data-rawheight=\"417\" data-original=\"https:\/\/pic3.zhimg.com\/v2-b4b022db50a510e3ca0c64c08434d61a_r.jpg\" \/><\/p>\n<p>\u5728\u79bb\u6563\u7a7a\u95f4\u4e0b\u7684\u6700\u4f18\u8def\u5f84\u662f\u4ec0\u4e48\uff0c\u6b64\u6700\u4f18\u8def\u5f84\u5c06\u5f00\u8f9f\u4e00\u4e2a\u51f8\u7a7a\u95f4\uff0c\u5728\u6b64\u51f8\u7a7a\u95f4\u4e0a\u505a\u4e8c\u6b21\u89c4\u5212<\/p>\n<p>\u79bb\u6563\u7a7a\u95f4\uff08\u56fe1\uff09\u7684\u6700\u4f18\u8def\u5f84\u79f0\u4e3a\u7c97\u89e3\uff08\u56fe2\uff09\uff0c\u7c97\u89e3\u5f00\u8f9f\u51f8\u7a7a\u95f4\uff08\u56fe3\uff09\uff0c\u5728\u6b64\u51f8\u7a7a\u95f4\u4e0a\u4f18\u5316\u51fa\u6700\u7ec8\u89e3<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-33776b39a7bfea1395e7fbfa1cb75321_b.jpg\" width=\"476\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"476\" data-rawheight=\"321\" data-original=\"https:\/\/pic2.zhimg.com\/v2-33776b39a7bfea1395e7fbfa1cb75321_r.jpg\" \/><\/p>\n<p>\u5982\u4f55\u5728\u79bb\u6563\u7a7a\u95f4\u4e0a\u627e\u5230\u7c97\u89e3\uff1f \u7b54\uff1a\u52a8\u6001\u89c4\u5212<\/p>\n<p>\u4e0b\u9762\u5148\u8bf4\u52a8\u6001\u89c4\u5212<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-3ffed8eb7a46849726355bd8038337b1_b.jpg\" width=\"723\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"723\" data-rawheight=\"256\" data-original=\"https:\/\/pic2.zhimg.com\/v2-3ffed8eb7a46849726355bd8038337b1_r.jpg\" \/><\/p>\n<p>\u8fde\u63a5\u6bcf\u4e24\u4e2a\u70b9\u7684\u66f2\u7ebf\u662f\u4ec0\u4e48\uff1f<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic2.zhimg.com\/v2-55ceb389dbcf77ba538a5b980caf00a1_b.png\" width=\"186\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"186\" data-rawheight=\"92\" \/><\/p>\n<p>\u7b54\uff1a\u4e94\u6b21\u591a\u9879\u5f0f\u4e94\u6b21\u591a\u9879\u5f0f6\u4e2a\u7cfb\u6570\uff0c\u6c42<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-8b99ec2113c2d029a9312886a8c97e54_b.png\" width=\"678\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"678\" data-rawheight=\"72\" data-original=\"https:\/\/pic1.zhimg.com\/v2-8b99ec2113c2d029a9312886a8c97e54_r.jpg\" \/><\/p>\n<p>\u4f8b\uff1a\u5bf9\u4e8e\u8d77\u70b9\u548c\u4e0b\u4e2a\u70b9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-af796755da412c7db6ef972ffa92137c_b.jpg\" width=\"544\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"544\" data-rawheight=\"207\" data-original=\"https:\/\/pic1.zhimg.com\/v2-af796755da412c7db6ef972ffa92137c_r.jpg\" \/><\/p>\n<p>\u8def\u5f84\u89c4\u5212\u7684\u8d77\u70b9\u4e00\u822c\u6709heading\u7ea6\u675f\uff0c\u8fb9\u754c\u6761\u4ef6\u4e3a\uff1a<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-a837e97c92ed513ea05e351f5c2c15b9_b.jpg\" width=\"1103\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1103\" data-rawheight=\"524\" data-original=\"https:\/\/pic2.zhimg.com\/v2-a837e97c92ed513ea05e351f5c2c15b9_r.jpg\" \/><\/p>\n<p>\u5982\u679c\u5bf9\u4e8e\u4e2d\u95f4\u70b9\uff0c\u600e\u4e48\u786e\u5b9a\u8fb9\u754c\u6761\u4ef6<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-a26a43016e415c3bbbc7ca31ba8592bf_b.jpg\" width=\"593\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"593\" data-rawheight=\"192\" data-original=\"https:\/\/pic4.zhimg.com\/v2-a26a43016e415c3bbbc7ca31ba8592bf_r.jpg\" \/><\/p>\n<p>\u66f4\u7b80\u5355\uff0c\u8ba4\u4e3a\u5bfc\u6570\u4e3a0\u5373\u53ef<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-192115dc607fc7a5a6745288353f5813_b.jpg\" width=\"604\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"604\" data-rawheight=\"175\" data-original=\"https:\/\/pic4.zhimg.com\/v2-192115dc607fc7a5a6745288353f5813_r.jpg\" \/><\/p>\n<p>\u56e0\u4e3a\u8fd9\u4e2a\u89e3\u662f\u7c97\u89e3\uff0c\u6240\u4ee5\u957f\u5f97\u4ec0\u4e48\u6837\u65e0\u6240\u8c13\uff0c\u662f\u7528\u6765\u5224\u65ad\u7684\uff0c\u5f00\u8f9f\u51f8\u7a7a\u95f4\u7528\u3002<\/p>\n<p>\u8fd9\u6837\u5c31\u83b7\u5f97\u4e86\u4e00\u4e2a\u79bb\u6563\u70b9\u7ec4\u6210\u7684\u8def\u5f84<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-51b0ee1e1d9cd0e46ee39abe336dab24_b.jpg\" width=\"488\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"488\" data-rawheight=\"255\" data-original=\"https:\/\/pic1.zhimg.com\/v2-51b0ee1e1d9cd0e46ee39abe336dab24_r.jpg\" \/><\/p>\n<p>\u5982\u4f55\u8bc4\u4ef7\u8def\u5f84\u7684\u597d\u574f\uff1fcost function<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-bee6de12d0b3c35babded8526a80904e_b.jpg\" width=\"1162\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1162\" data-rawheight=\"300\" data-original=\"https:\/\/pic3.zhimg.com\/v2-bee6de12d0b3c35babded8526a80904e_r.jpg\" \/> cost function\u53ef\u4ee5\u8bbe\u7f6e\u4e3a\uff1a\u4e00\u4e8c\u4e09\u9636\u5bfc\u6570\u6c42\u548c\u7684\u5e73\u6ed1\u4ee3\u4ef7\uff0c\u518d\u52a0\u4e0a\u969c\u788d\u7269\u8ddd\u79bb\u4ee3\u4ef7\uff0c\u53c2\u8003\u7ebf\u8ddd\u79bb\u4ee3\u4ef7<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-e8a5ab09629d96c37e68ee8c52d7e7d1_b.jpg\" width=\"1263\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1263\" data-rawheight=\"268\" data-original=\"https:\/\/pic2.zhimg.com\/v2-e8a5ab09629d96c37e68ee8c52d7e7d1_r.jpg\" \/><\/p>\n<p>\u4e0b\u9762\u8bf4\u4e00\u4e0b\u4e3a\u4ec0\u4e48\u8fd9\u4e48\u8bbe\u7f6e<\/p>\n<p>\uff081\uff09\u5e73\u6ed1\uff1a\u8d8a\u50cf\u76f4\u7ebf\u8d8a\u5e73\u6ed1\uff0c\u76f4\u7ebf\u6700\u77ed<\/p>\n<p>\u6240\u4ee5\u671f\u671b<img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic3.zhimg.com\/v2-1aafabafe791862b29685657616c5cca_b.jpg\" width=\"200\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"200\" data-rawheight=\"75\" \/><\/p>\n<p>\u6700\u5c0f\uff0c\u7b49\u4ef7\u4e8e<img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic3.zhimg.com\/v2-a051e121c4c68c9334898db0af1d332e_b.png\" width=\"155\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"155\" data-rawheight=\"72\" \/><\/p>\n<p>\u6700\u5c0f\uff0c\u4f46\u662f\u79ef\u5206\u5904\u7406\u8d77\u6765\u9ebb\u70e6\uff0c\u6240\u4ee5\u79bb\u6563\u5316\u6210\u6c42\u548c<img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic1.zhimg.com\/v2-3ce16fe56736b176844ba573badbeac4_b.png\" width=\"116\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"116\" data-rawheight=\"54\" \/><\/p>\n<p>\u6700\u5c0f<\/p>\n<p>\u4e8c\u9636\u548c\u4e09\u9636\u6c42\u548c\u4e3b\u8981\u8003\u8651\u5230\u66f2\u7387\u548c\u66f2\u7387\u7684\u53d8\u5316\u7387\uff0c\u4e0d\u5e0c\u671b\u626d\u6765\u626d\u66f2\uff0c\u66f2\u7387\u53d8\u5316\u592a\u5feb<\/p>\n<p>\uff082\uff09\u969c\u788d\u7269\u8ddd\u79bb\u4ee3\u4ef7<\/p>\n<p>g(x)\u8fd9\u4e48\u8bbe\u7f6e\uff1a\u5728d1\u8303\u56f4\u5916\u4e3a0\uff0c\u5728\uff08d2\uff0cd1\uff09\u8303\u56f4\u5185\u7ebf\u6027\u589e\u957f\uff0c\u5728\uff080\uff0cd1\uff09\u5185\u4e3a\u65e0\u7a77\u5927<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-b3bfac8d855ac72f370b528412757806_b.jpg\" width=\"435\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"435\" data-rawheight=\"131\" data-original=\"https:\/\/pic3.zhimg.com\/v2-b3bfac8d855ac72f370b528412757806_r.jpg\" \/><\/p>\n<p>\u6216\u8005<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-251e3b22b0a8727938f63e70fdb8a9b9_b.jpg\" width=\"423\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"423\" data-rawheight=\"138\" data-original=\"https:\/\/pic2.zhimg.com\/v2-251e3b22b0a8727938f63e70fdb8a9b9_r.jpg\" \/><\/p>\n<p>\u5176\u5b9e\u5c31\u662f\u60e9\u7f5a\u51fd\u6570<\/p>\n<p>2\u3001\u52a8\u6001\u89c4\u5212<\/p>\n<p>\u4e0b\u9762\u6765\u8bf4\u5982\u4f55\u627e\u6700\u77ed\u8def\u5f84<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-420ce04fcd466a49b7096491949ce992_b.jpg\" width=\"626\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"626\" data-rawheight=\"254\" data-original=\"https:\/\/pic3.zhimg.com\/v2-420ce04fcd466a49b7096491949ce992_r.jpg\" \/><\/p>\n<p>\u6bcf\u4e2a\u8def\u5f84\u90fd\u6709\u5bf9\u5e94\u7684cost\uff0c\u95ee\u9898\u53d8\u4e3a\u627e\u56fe\u7684\u6700\u77ed\u8def\u5f84\u95ee\u9898<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-483024e41f751d956ef77ed18ee62f46_b.jpg\" width=\"757\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"757\" data-rawheight=\"222\" data-original=\"https:\/\/pic3.zhimg.com\/v2-483024e41f751d956ef77ed18ee62f46_r.jpg\" \/><\/p>\n<p>\u8ba1\u7b97\u673a\uff1adijstra\u7b97\u6cd5\uff0c\u81ea\u52a8\u9a7e\u9a76\u6ca1\u5fc5\u8981<\/p>\n<p>\u4f7f\u7528\u52a8\u6001\u89c4\u5212\u7684\u65b9\u6cd5\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898<\/p>\n<p>\u8bb0cost\uff08P0,Pij\uff09\u8868\u793aP0\u5230Pij\u70b9\u82b1\u8d39\u7684\u6700\u5c0f\u4ee3\u4ef7<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-246c661d29095fe6f8ee7a5e629d8bef_b.jpg\" width=\"903\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"903\" data-rawheight=\"247\" data-original=\"https:\/\/pic4.zhimg.com\/v2-246c661d29095fe6f8ee7a5e629d8bef_r.jpg\" \/>\u53ef\u4ee5\u5f97\u5230\u7b2c\u4e8c\u5c42\u7684\u6700\u5c0fcost<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-334a5512a4ffafe7a6da1117dc08294b_b.jpg\" width=\"777\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"777\" data-rawheight=\"176\" data-original=\"https:\/\/pic4.zhimg.com\/v2-334a5512a4ffafe7a6da1117dc08294b_r.jpg\" \/><\/p>\n<p>\u7b2c\u4e09\u5c42<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-27913d4adb26d123beb2fb732f2cac28_b.jpg\" width=\"546\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"546\" data-rawheight=\"220\" data-original=\"https:\/\/pic1.zhimg.com\/v2-27913d4adb26d123beb2fb732f2cac28_r.jpg\" \/><\/p>\n<p>\u53ef\u4ee5\u5f97\u5230\u7b2c\u4e09\u5c42\u7684\u6700\u5c0fcost<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-f9b763f27c364dd46b29b38eadf9f57c_b.jpg\" width=\"728\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"728\" data-rawheight=\"186\" data-original=\"https:\/\/pic1.zhimg.com\/v2-f9b763f27c364dd46b29b38eadf9f57c_r.jpg\" \/><\/p>\n<p>\u524d\u9762\u5df2\u7ecf\u7b97\u8fc7<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-08894e5499191ec0b6e5ceae6630d832_b.png\" width=\"493\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"493\" data-rawheight=\"43\" data-original=\"https:\/\/pic3.zhimg.com\/v2-08894e5499191ec0b6e5ceae6630d832_r.jpg\" \/><\/p>\n<p>\u6240\u4ee5cost(P0,P13)\u53ef\u7531\u5b50\u95ee\u9898\u63a8\u51fa<\/p>\n<p>\u7b2cj\u5c42<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-8e5a724a03c4350c3f471a3096e89a5f_b.jpg\" width=\"441\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"441\" data-rawheight=\"152\" data-original=\"https:\/\/pic4.zhimg.com\/v2-8e5a724a03c4350c3f471a3096e89a5f_r.jpg\" \/><\/p>\n<p>\u72b6\u6001\u8f6c\u79fb\u65b9\u7a0b<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-d56f1f229cc987755a849386517321f6_b.png\" width=\"1134\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1134\" data-rawheight=\"77\" data-original=\"https:\/\/pic3.zhimg.com\/v2-d56f1f229cc987755a849386517321f6_r.jpg\" \/><\/p>\n<p>\u5f97\u5230P0\u5230\u4efb\u4e00\u70b9\u7684\u6700\u5c0f\u8ddd\u79bb<\/p>\n<p>\u5982\u679c\u8981\u7b97\u7b2c\u4e94\u5c42<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-b3bfb58ea6876b8f8b41ab4bd2ed9282_b.jpg\" width=\"789\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"789\" data-rawheight=\"154\" data-original=\"https:\/\/pic3.zhimg.com\/v2-b3bfb58ea6876b8f8b41ab4bd2ed9282_r.jpg\" \/><\/p>\n<p>\u52a8\u6001\u89c4\u5212\u8ba1\u7b97\u51fa<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-ea474ca34d2f2b5af54814452ca330a4_b.png\" width=\"531\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"531\" data-rawheight=\"40\" data-original=\"https:\/\/pic1.zhimg.com\/v2-ea474ca34d2f2b5af54814452ca330a4_r.jpg\" \/><\/p>\n<p>\uff0c\u9009\u6700\u5c0f\u7684\u4f5c\u4e3a\u52a8\u6001\u89c4\u5212\u7684\u8f93\u51fa<\/p>\n<p>3\u3001\u63a7\u5236\u63a5\u53e3\uff0c\u8f68\u8ff9\u62fc\u63a5<\/p>\n<p>\u73b0\u5728\u7684\u63a7\u5236\u63a5\u53e3\uff08\u63a7\u5236\u8f93\u5165\uff09\u4e3a<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic3.zhimg.com\/v2-329c568614d7bab59c952bb537e3a94a_b.png\" width=\"308\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"308\" data-rawheight=\"39\" \/><\/p>\n<p>\u89c4\u5212\u4e3a100ms\uff0c\u63a7\u5236\u5468\u671f\u4e3a10ms\uff0c\u4e5f\u5c31\u662f\u8bf4\u63a7\u5236\u67099\u4e2a\u5468\u671f\u90fd\u5728\u8ddf\u8e2a\u540c\u4e00\u4e2a\u70b9\uff0c\u8fd9\u6837\u7684\u6548\u679c\u4e0d\u597d\uff0c\u6240\u4ee5\u5728\u89c4\u5212\u5468\u671f\u548c\u63a7\u5236\u5468\u671f\u4e0d\u540c\u6b65\u7684\u65f6\u5019\uff0c\u4e0d\u80fd\u76f4\u63a5\u7528\u8fd9\u4e2a\u8f93\u5165<\/p>\n<p>\u60f3\u60f3<img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic3.zhimg.com\/v2-329c568614d7bab59c952bb537e3a94a_b.png\" width=\"308\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"308\" data-rawheight=\"39\" \/><\/p>\n<p>\u662f\u600e\u4e48\u6765\u7684<\/p>\n<p>\u89c4\u5212\uff1a\u89c4\u5212\u51fa\u4e86trajectory\uff0c\u5305\u542b\u4e86\u4e00\u7cfb\u5217\u7684<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic4.zhimg.com\/v2-660cd9df14c487cc91e16ab698326e2b_b.jpg\" width=\"250\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"250\" data-rawheight=\"43\" \/><\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-0f8c0b53c2231cdac66a4f1c9b456895_b.jpg\" width=\"437\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"437\" data-rawheight=\"211\" data-original=\"https:\/\/pic2.zhimg.com\/v2-0f8c0b53c2231cdac66a4f1c9b456895_r.jpg\" \/><\/p>\n<p>\u89c4\u5212\u5468\u671f\u4e3a100ms\uff0c\u5728trajectory\u627e\u5230t=100ms\u6240\u5bf9\u5e94\u7684<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic2.zhimg.com\/v2-6e10a371b1cac3890ac0a3add2a0e1ed_b.jpg\" width=\"305\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"305\" data-rawheight=\"75\" \/><\/p>\n<p>\uff08\u627e\u4e0d\u5230\u5c31\u627e100ms\u76f8\u90bb\u76842\u4e2a\u65f6\u95f4\uff0c\u505a\u63d2\u503c\uff09\uff0c\u4f5c\u4e3a\u89c4\u5212\u8f93\u51fa\u53d1\u51fa\u53bb<\/p>\n<p>\u5728\u89c4\u63a7\u5468\u671f\u540c\u6b65\u65f6\uff0c\u65e0\u95ee\u9898\u3002\u4e0d\u540c\u6b65\u65f6\uff0c\u6709\u95ee\u9898<\/p>\n<p>\u56e0\u4e3a\u89c4\u5212\u5df2\u7ecf\u89c4\u5212\u51fa\u4e8610ms,20ms,&#8230;&#8230;,100ms\u7684\u8f68\u8ff9\uff0c\u4f46\u53ea\u628a100ms\u540e\u7684\u70b9\u53d1\u4e86\u51fa\u53bb\uff0c\u5fc5\u7136\u9020\u6210\u63a7\u5236\u6548\u679c\u53d8\u5dee<\/p>\n<p>\u6240\u4ee5\uff1a\u539f\u4ee3\u7801\u4e2d\u7684\u63a7\u5236\u63a5\u53e3\u4e0d\u53ef\u53d6\uff0c\u9700\u8981\u6539\u8fdb<\/p>\n<p>\u6539\u9020\uff1a\u89c4\u5212\u76f4\u63a5\u53d1\u4e00\u6761\u5e26\u65f6\u95f4\u7684\u8f68\u8ff9\u7ed9\u63a7\u5236<\/p>\n<p>\u89c4\u5212\u8f93\u51fa<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-b34768c2f1574113d346e4bdad5fcfa7_b.png\" width=\"965\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"965\" data-rawheight=\"122\" data-original=\"https:\/\/pic4.zhimg.com\/v2-b34768c2f1574113d346e4bdad5fcfa7_r.jpg\" \/><\/p>\n<p>\u63a7\u5236\u6bcf10ms\u641c\u7d22trajectory<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-3a8fba9dc462e8c9e7dadb801ca92556_b.jpg\" width=\"439\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"439\" data-rawheight=\"167\" data-original=\"https:\/\/pic3.zhimg.com\/v2-3a8fba9dc462e8c9e7dadb801ca92556_r.jpg\" \/><\/p>\n<p>\u63a7\u5236\u6839\u636e\u5f53\u524d\u63a7\u5236\u5468\u671f\u7684\u65f6\u95f4\uff0c\u641c\u7d22\u8f68\u8ff9\uff0c\u627e\u5230\u5f53\u524d\u65f6\u95f4\u5bf9\u5e94\u7684<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic4.zhimg.com\/v2-85acc09253621eae17583ed3c8267a53_b.jpg\" width=\"223\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"223\" data-rawheight=\"56\" \/><\/p>\n<p>\uff0c\u8f93\u51fa\u7ed9\u63a7\u5236\u7b97\u6cd5\u53bb\u8ddf\u8e2a<\/p>\n<p>\u65b9\u6cd5\u5f88\u7b80\u5355\uff0c\u7ec6\u8282\u662f\u9b54\u9b3c<\/p>\n<p>\u95ee\u9898\u4e00\uff1a\u8f68\u8ff9\u7684\u65f6\u95f4\u662f\u76f8\u5bf9\u65f6\u95f4\u8fd8\u662f\u7edd\u5bf9\u65f6\u95f4\uff1f<\/p>\n<p>\u4f8b\uff1a16:00:00\u5f00\u59cb\u89c4\u5212\uff0c16:00:10\u89c4\u5212\u5b8c\u6210\uff0c\u89c4\u5212\u51fa\u4e864\u79d2\u8f68\u8ff9<\/p>\n<p>\u6709\u4e09\u79cd\u53d1\u7ed9\u63a7\u5236\u7684\u9009\u62e9<\/p>\n<p>\uff081\uff09trajectory-t = \uff080,&#8230;&#8230;,4\uff09\u76f8\u5bf9\u65f6\u95f4<\/p>\n<p>\uff082\uff09trajectory-t = \uff0816:00:00,&#8230;&#8230;,16:04:00\uff09\u7edd\u5bf9\u65f6\u95f4<\/p>\n<p>\uff083\uff09trajectory-t = \uff0816:00:00,&#8230;&#8230;,16:04:10\uff09\u7edd\u5bf9\u65f6\u95f4<\/p>\n<p>23\u533a\u522b\u5728\u4e8e\u89c4\u5212\u7684\u8d77\u70b9<\/p>\n<p>\u5230\u5e95\u662f\u76f8\u5bf9\u65f6\u95f4\u8fd8\u662f\u7edd\u5bf9\u65f6\u95f4\uff1f<\/p>\n<p>\u63a8\u8350\u53d1\u7edd\u5bf9\u65f6\u95f4\uff0c\u56e0\u4e3a\u505a\u62fc\u63a5\uff0c\u505a\u63a7\u5236\uff0c\u7edd\u5bf9\u65f6\u95f4\u66f4\u76f4\u89c2\u65b9\u4fbf<\/p>\n<p>\u4f8b\uff1a16:00 \u89c4\u5212\u4e864\u79d2\u672c\u5468\u671f16:00:10 \u9996\u5148\u83b7\u5f97\u672c\u5468\u671f\u7684\u65f6\u95f4\uff0816:00:10\uff09\uff0c\u76f4\u63a5\u67e5\u627e\u4e0a\u4e00\u65f6\u523b\u89c4\u5212\u768416:00:10\u5bf9\u5e94\u7684\u70b9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-0511361976d76d3695e64fc8225665b0_b.jpg\" width=\"483\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"483\" data-rawheight=\"118\" data-original=\"https:\/\/pic1.zhimg.com\/v2-0511361976d76d3695e64fc8225665b0_r.jpg\" \/><\/p>\n<p>\u5bf9\u4e8e\u63a7\u5236\uff1a16:00:13\uff0c\u67e5trajectory\u5bf9\u5e94\u768416:00:13\u7684\u70b9\uff0c\u8f93\u51fa\u7ed9\u7b97\u6cd5\u8fdb\u884c\u8ddf\u8e2a<\/p>\n<p>\u95ee\u9898\u4e8c\uff1a\u89c4\u5212\u8d77\u70b9<\/p>\n<p>\u8bbe\u5728\u672c\u5468\u671f\u89c4\u5212\u5f00\u59cb\u7684\u65f6\u95f4\u4e3aT<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-0628257fbcc343e1f27f0e19f195f2b5_b.jpg\" width=\"798\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"798\" data-rawheight=\"257\" data-original=\"https:\/\/pic2.zhimg.com\/v2-0628257fbcc343e1f27f0e19f195f2b5_r.jpg\" \/><\/p>\n<p>\u89c4\u5212\u8d77\u70b9\u662fT\uff0c\u8fd8\u662fT+100ms?<\/p>\n<p>\u7b54\uff1aT+100ms<\/p>\n<p>\u4e3a\u4ec0\u4e48\uff1f<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-2b7aa3ab1f6a6eb65716462fdaebe8ce_b.jpg\" width=\"513\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"513\" data-rawheight=\"118\" data-original=\"https:\/\/pic3.zhimg.com\/v2-2b7aa3ab1f6a6eb65716462fdaebe8ce_r.jpg\" \/><\/p>\n<p>\u63a7\u5236\u9891\u7387\u6bd4\u89c4\u5212\u5feb\uff0c\u5728[T, T+100ms]\u5185\uff0c\u6b64\u65f6\u89c4\u5212\u672a\u8ba1\u7b97\u5b8c\u6210\uff0c\u90a3\u4e48\u63a7\u5236\u8ddf\u8e2a\u7684\u662f\u54ea\u4e2a\u8f68\u8ff9<\/p>\n<p>\u7b54\uff1a\u4e0a\u4e2a\u5468\u671f\u7684\u8f68\u8ff9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-e2689f5676db0f53ac39e349f7196b6c_b.jpg\" width=\"834\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"834\" data-rawheight=\"205\" data-original=\"https:\/\/pic1.zhimg.com\/v2-e2689f5676db0f53ac39e349f7196b6c_r.jpg\" \/><\/p>\n<p>\u4ece\u63a7\u5236\u770b\u6765<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-a71dbee6ab554ef9998bb320bf3251d6_b.jpg\" width=\"718\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"718\" data-rawheight=\"158\" data-original=\"https:\/\/pic3.zhimg.com\/v2-a71dbee6ab554ef9998bb320bf3251d6_r.jpg\" \/><\/p>\n<p>\u5982\u679c\u4ee5T+100ms\u4e3a\u89c4\u5212\u8d77\u70b9<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-5693fd823a26e02ef67c8f2f8258f8fd_b.jpg\" width=\"533\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"533\" data-rawheight=\"349\" data-original=\"https:\/\/pic2.zhimg.com\/v2-5693fd823a26e02ef67c8f2f8258f8fd_r.jpg\" \/><\/p>\n<p>\u8fd9\u91cc\u5f15\u7528\u4e00\u7bc7\u6587\u7ae0\uff1a<\/p>\n<p>\u767e\u5ea6 Apollo \u8f68\u8ff9\u89c4\u5212\u6280\u672f\u5206\u4eab\u7b14\u8bb0 &#8211; \u77e5\u4e4e (zhihu.com)<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-e31655f6101affe397544e85f1f11ea8_b.jpg\" width=\"1107\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1107\" data-rawheight=\"969\" data-original=\"https:\/\/pic1.zhimg.com\/v2-e31655f6101affe397544e85f1f11ea8_r.jpg\" \/><\/p>\n<p>\u5982\u679c\u8bef\u5dee\u4e0d\u5927\u7684\u8bdd\uff0c\u5c31\u4ee5T+100ms\u4f5c\u4e3a\u89c4\u5212\u8d77\u70b9\uff0c\u5982\u679c\u8bef\u5dee\u8f83\u5927\u7684\u8bdd\uff0c\u5c31\u7528\u8f66\u8f86\u52a8\u529b\u5b66\u5916\u63a8100ms\u540e\u7684\u72b6\u6001\u4f5c\u4e3a\u89c4\u5212\u8d77\u70b9\uff0c\u8fd9\u5c31\u662f\u8f68\u8ff9\u62fc\u63a5\u7b97\u6cd5<\/p>\n<p>\u89e3\u91ca\u4e3a\u4ec0\u4e48\u4e0d\u80fd\u7528\u5b9a\u4f4d\u7684\u70b9\u4f5c\u4e3a\u89c4\u5212\u8d77\u70b9<\/p>\n<p>\u63a7\u5236\u4e0d\u5b8c\u7f8e\uff0c\u7528\u5b9a\u4f4d\u505a\u5c31\u4f1a\u5bfc\u81f4\u66f2\u7ebf\u4e0d\u8fde\u7eed<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-d3af8b16092097fee041e7bf7daad4d5_b.jpg\" width=\"436\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"436\" data-rawheight=\"113\" data-original=\"https:\/\/pic2.zhimg.com\/v2-d3af8b16092097fee041e7bf7daad4d5_r.jpg\" \/><\/p>\n<p>\u89e3\u51b3\u529e\u6cd5\uff1a\u8f68\u8ff9\u62fc\u63a5<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4e00\u8282\u7684\u53c2\u8003\u7ebf\u6a21\u5757\u63d0\u4f9b\u4e86\u5149\u6ed1\u7684frenet\u5750\u6807 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-5128","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":13,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5128"}],"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=5128"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5128\/revisions"}],"predecessor-version":[{"id":5142,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5128\/revisions\/5142"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=5128"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=5128"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=5128"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}