<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[RobotLife的博客]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/RobotLife</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; RobotLife]]></copyright><item><title><![CDATA[ros2指令笔记]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/149675353</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/149675353</guid><author>RobotLife</author><pubDate>Sun, 27 Jul 2025 00:34:26 +0800</pubDate><description><![CDATA[gdb 调试 Composable Node。]]></description><category></category></item><item><title><![CDATA[nng库使用]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/149208740</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/149208740</guid><author>RobotLife</author><pubDate>Tue, 08 Jul 2025 23:08:51 +0800</pubDate><description><![CDATA[cd nng使用:]]></description><category></category></item><item><title><![CDATA[论文实现：Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/144858887</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/144858887</guid><author>RobotLife</author><pubDate>Tue, 31 Dec 2024 23:24:20 +0800</pubDate><description><![CDATA[曲率：κsa0​a1​sa2​s2a3​s3a4​s4a5​s5​​机器人朝向：θsa0​s2a1​s2​3a2​s3​4a3​s4​5a4​s5​6a5​s6​​​轨迹：xs∫0s​cosθs))ds​​ys∫0s​sinθs))ds​​。]]></description><category></category></item><item><title><![CDATA[树莓派串口访问权限不够被拒绝访问]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/132053265</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/132053265</guid><author>RobotLife</author><pubDate>Wed, 02 Aug 2023 00:29:52 +0800</pubDate><description><![CDATA[修改文件：sudo vim /etc/udev/rules.d/70-ttyusb.rules。系统：ubuntu22.04 server。访问串口:serial0， ttyUSBx。]]></description><category></category></item><item><title><![CDATA[实时操作系统-NuttX学习笔记(2)-Code::Blocks IDE编译和调试技巧]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/123026492</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/123026492</guid><author>RobotLife</author><pubDate>Sun, 20 Feb 2022 02:03:31 +0800</pubDate><description><![CDATA[视频教程地址
1 安装工具
step1 安装arm平台的gdb调试工具
sudo apt-get install gdb-arm-none-eabi 

step2 安装集成开发环境code::blocks
sudo apt-get install codeblocks

step3 启动Code::Blocks
执行sudo codeblocks

step4 配置Code::Blocks
Settings---&gt;Debugger---&gt;GDB/CDB debugger---&gt;Creat]]></description><category></category></item><item><title><![CDATA[实时操作系统-NuttX学习笔记(1)-开发环境搭建]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/122933981</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/122933981</guid><author>RobotLife</author><pubDate>Mon, 14 Feb 2022 23:41:39 +0800</pubDate><description><![CDATA[1 简介
1.1 背景
学习NuttX视频教程，该视频教程语言为英文，为了在以后的工作学习中用到，在此记录学习内容，方便自己和大家查阅。
1.2 开发环境
虚拟机+系统：虚拟机VMware® Workstation 12 Pro+ubuntu 16.04LTS
开发板：正点原子STM32F4探索者

2 Nuttx开发环境搭建
视频地址：https://www.youtube.com/watch?v=heSkSd-_70g&amp;list=PLd73yQk5Fd8JEsVD-lhwYRQKVu6glfDa]]></description><category></category></item><item><title><![CDATA[前置++和后置++重载]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/120578449</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/120578449</guid><author>RobotLife</author><pubDate>Fri, 01 Oct 2021 16:03:53 +0800</pubDate><description><![CDATA[To distinguish between the prefix and postfix versions of the ++ operator, C++ adopted the convention of letting operator++() be the prefix version and operator++(int) be the suffix version;`
iterator&amp; operator++() // for ++it
{
pt = pt-&gt;p_next;
ret]]></description><category></category></item><item><title><![CDATA[right four steps of SEIF SLAM]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/117485820</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/117485820</guid><author>RobotLife</author><pubDate>Wed, 02 Jun 2021 22:08:40 +0800</pubDate><description><![CDATA[参考：SLAM Course - 08 - Sparse Extended Information Filter - Part 2 (2013/14; Cyrill Stachniss)

]]></description><category></category></item><item><title><![CDATA[Inversion Lemma]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/117437408</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/117437408</guid><author>RobotLife</author><pubDate>Tue, 01 Jun 2021 10:37:39 +0800</pubDate><description><![CDATA[来源：概率机器人

]]></description><category></category></item><item><title><![CDATA[概率之排列组合]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114989864</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114989864</guid><author>RobotLife</author><pubDate>Thu, 18 Mar 2021 20:30:21 +0800</pubDate><description><![CDATA[参考文献：
&lt;&lt; statistical inference&gt;&gt;, p16

]]></description><category></category></item><item><title><![CDATA[求过指定点和指定方向的直线方程]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114888831</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114888831</guid><author>RobotLife</author><pubDate>Tue, 16 Mar 2021 17:18:12 +0800</pubDate><description><![CDATA[给定点：
(x0,y0)
(x_0, y_0)
(x0​,y0​)
给定方向：
θ
\theta
θ
设直线方程为：
y=kx+b
y = kx + b
y=kx+b
则：
k=tanθ
k = tan\theta
k=tanθ
b=y0−x0tanθ
b = y_0 - x_0tan\theta
b=y0​−x0​tanθ
进而直线方程为：
y=tanθx+y0−x0tanθ
y = tan\theta x+ y_0 - x_0tan\theta
y=tanθx+y0​−x0​tanθ
考虑到θ=±π2\]]></description><category></category></item><item><title><![CDATA[点在直线上的投影点]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114886709</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114886709</guid><author>RobotLife</author><pubDate>Tue, 16 Mar 2021 16:34:08 +0800</pubDate><description><![CDATA[直线方程：
ax+by+c=0
ax + by + c = 0
ax+by+c=0
点：
(x0,y0)
(x_0, y_0)
(x0​,y0​)
先求法线方程为：
bx−ay+(−bx0+ay0)=0
bx-ay+(-bx_0+ay_0) = 0
bx−ay+(−bx0​+ay0​)=0
在通过求直线和法线的交点即的点在直线上的投影点，即：
(b(−bx0+ay0)+ac−a2−b2,bc−a(−bx0+ay0)−a2−b2)
(\frac{b(-bx_0+ay_0) + ac}{-a^2 - b^2},]]></description><category></category></item><item><title><![CDATA[两直线的交点]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114884084</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114884084</guid><author>RobotLife</author><pubDate>Tue, 16 Mar 2021 16:06:33 +0800</pubDate><description><![CDATA[直线方程1：
a0x+b0y+c0=0
a_0x + b_0y + c_0 = 0
a0​x+b0​y+c0​=0
直线方程1的齐次表示：
I0:(a0,b0,c0)
I_0 : (a_0, b_0, c_0)
I0​:(a0​,b0​,c0​)
直线方程2：
a1x+b1y+c1=0
a_1x + b_1y + c_1 = 0
a1​x+b1​y+c1​=0
直线方程2的齐次表示：
I1:(a1,b1,c1)
I_1 : (a_1, b_1, c_1)
I1​:(a1​,b1​,c1​)
根据射影几何的相]]></description><category></category></item><item><title><![CDATA[给定点和直线，求过点的直线的法线方程]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114884007</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114884007</guid><author>RobotLife</author><pubDate>Tue, 16 Mar 2021 15:34:39 +0800</pubDate><description><![CDATA[直线方程：
ax+by+c=0
ax + by + c = 0
ax+by+c=0
点：
(x0,y0)
(x_0, y_0)
(x0​,y0​)
过点的直线的法线方程：
bx−ay+(−bx0+ay0)=0
bx-ay+(-bx_0+ay_0) = 0
bx−ay+(−bx0​+ay0​)=0

]]></description><category></category></item><item><title><![CDATA[点到直线的距离]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114883339</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114883339</guid><author>RobotLife</author><pubDate>Tue, 16 Mar 2021 15:20:49 +0800</pubDate><description><![CDATA[直线方程：
ax+by+c=0
ax + by + c = 0
ax+by+c=0
点：
(x0,y0)
(x_0, y_0)
(x0​,y0​)
点到直线的距离：
d=∣a∗x0+b∗y0+c∣a2+b2
d = \frac{|a * x_0 + b * y_0 + c|}{\sqrt{a^2 + b^2}}
d=a2+b2​∣a∗x0​+b∗y0​+c∣​

]]></description><category></category></item><item><title><![CDATA[直线拟合（最小二乘法）]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/114839537</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/114839537</guid><author>RobotLife</author><pubDate>Mon, 15 Mar 2021 17:14:37 +0800</pubDate><description><![CDATA[直线方程：
y=ax+b
y=ax+b
y=ax+b
实验测试获得一组数据，记为：(xi,yi) (x_i, y_i)(xi​,yi​)
现需要根据测试数据，求直线方程参数a, b使得该直线最符合实验数据结果，即等价于问题：
mina,bΣ[yi−(axi+b)]2
\underset{a, b}{min} \Sigma[y_i - (ax_i + b)]^2
a,bmin​Σ[yi​−(axi​+b)]2
记：
sum=\Sigma[y_i - (ax_i + b)]^2
对a, b求导：
dsumda=]]></description><category></category></item><item><title><![CDATA[程序加速]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/107731621</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/107731621</guid><author>RobotLife</author><pubDate>Sat, 01 Aug 2020 15:31:47 +0800</pubDate><description><![CDATA[FBOW (Fast Bag of Words) is an extremmely optimized version of the DBow2/DBow3 libraries. The library is highly optimized to speed up the Bag of Words creation using AVX,SSE and MMX instructions. In loading a vocabulary, fbow is ~80x faster than DBOW2 (see]]></description><category></category></item><item><title><![CDATA[在PC机ubuntu16.04系统下为树莓派4B交叉编译ROS应用程序包整到绝望-菜鸟的几天奋战经历]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/105899602</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/105899602</guid><author>RobotLife</author><pubDate>Sun, 03 May 2020 12:07:48 +0800</pubDate><description><![CDATA[参考文献：
[1] https://medium.com/@tahsincankose/cross-compiling-ros-project-for-arm-263642b405ac
宿主机平台：虚拟机ubuntu16.04LTS系统
目标运行平台：树莓派4B
目标平台系统：Raspbian Buster with desktop and recommended software
采用的方法：
...]]></description><category></category></item><item><title><![CDATA[在ubuntu14.04 LTS 上交叉编译ARM平台RK3326上运行的opencv2.4.9]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/105819398</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/105819398</guid><author>RobotLife</author><pubDate>Tue, 28 Apr 2020 17:42:51 +0800</pubDate><description><![CDATA[PC系统：ubuntu14.04 LTS
交叉编译工具链：gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu
step1：
在opencv源代码目录创建文件夹：build，用于存放编译中间文件。
step2：
打开命令控制台，输入cmake-gui
待续：
参考：
https://blog.youkuaiyun.com/lucifer615/article/de...]]></description><category></category></item><item><title><![CDATA[C++类对象通过函数指针访问其成员函数的高级应用]]></title><link>https://blog.youkuaiyun.com/RobotLife/article/details/105746658</link><guid>https://blog.youkuaiyun.com/RobotLife/article/details/105746658</guid><author>RobotLife</author><pubDate>Sat, 25 Apr 2020 11:29:40 +0800</pubDate><description><![CDATA[应用源自OMPL库源代码：http://ompl.kavrakilab.org/index.html
以下代码出自：RRTstar.cpp，位于ompl::geometric::RRTstar::RRTstar(const base::SpaceInformationPtr &amp;si)函数中：
Planner::declareParam&lt;double&gt;("range", this...]]></description><category></category></item></channel></rss>