<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[wujianjun6932的专栏]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/wujianjun6932</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; wujianjun6932]]></copyright><item><title><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 - 6]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447345</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447345</guid><author>wujianjun6932</author><pubDate>Mon, 19 Oct 2026 16:17:18 +0800</pubDate><description><![CDATA[用课程里的字段命名习惯（rs / rtheta / rkappa / rdkappa、s / l / dl_ds / ddl_ds）写一份可直接对照的实现。③ 参考线曲率极大（如掉头）时，投影可能跳到另一段，需要做「曲率连续性 + 弧长单调」双重约束；用一条半径 50 m 的圆弧作参考线，另取一条完全无关的光滑轨迹作车辆运动，对投影结果做中心差分（步长。「先把参考线自身的切向/法向建出来（STEP 04），把车辆点投到这个标架上得到。闭环成立，说明正向 8 个公式与逆向 5 个公式完全自洽，没有符号错配。]]></description><category></category></item><item><title><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 -5]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447322</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447322</guid><author>wujianjun6932</author><pubDate>Mon, 19 Oct 2026 16:16:37 +0800</pubDate><description><![CDATA[用到的工具：商法则 · 记号s˙1−kr​dvx​cosΔθ​wu​u:=vx​cosΔθw:=1−kr​ds¨dtd​wu​w2u˙w−uw˙​wu˙​−wu​⋅ww˙​。]]></description><category></category></item><item><title><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 -4]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447284</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447284</guid><author>wujianjun6932</author><pubDate>Mon, 19 Oct 2026 16:15:16 +0800</pubDate><description><![CDATA[用到的工具：定义 · 链式法则曲率是切线角对自身弧长的导数。kxdθxdsx⟹dθxkxdsxkx​dsx​dθx​​⟹dθx​kx​dsx​两边除以dtdtdt结论 1θ˙xkxvxθ˙x​kx​vx​这是「角速度 = 曲率 × 速度」的一般形式，圆周运动ωvRvkωvRvk是它的特例。]]></description><category></category></item><item><title><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 -3]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447252</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447252</guid><author>wujianjun6932</author><pubDate>Mon, 19 Oct 2026 16:14:03 +0800</pubDate><description><![CDATA[从dΔp⋅NrdΔp⋅Nr​d˙ddtΔp⋅NrΔp˙⋅NrΔp⋅N˙rd˙dtd​Δp⋅Nr​Δp˙​⋅Nr​Δp⋅N˙r​Δp˙p˙vxTxΔp˙​p˙​vx​Tx​，所以p˙⋅NrvxTx⋅Nrvxsin⁡Δθp˙​⋅Nr​vx​Tx​⋅Nr​vx​sin。]]></description><category></category></item><item><title><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 -2]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447179</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447179</guid><author>wujianjun6932</author><pubDate>Mon, 19 Oct 2026 16:11:53 +0800</pubDate><description><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 -2]]></description><category></category></item><item><title><![CDATA[笛卡尔坐标 → 自然坐标（Frenet） 逐步推导全解 -1]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447125</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/168447125</guid><author>wujianjun6932</author><pubDate>Mon, 19 Oct 2026 16:08:57 +0800</pubDate><description><![CDATA[ros2 笛卡尔坐标 → 自然坐标（Frenet）   逐步推导全解 1]]></description><category></category></item><item><title><![CDATA[Swift 学习资料]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/72365906</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/72365906</guid><author>wujianjun6932</author><pubDate>Wed, 17 May 2017 11:31:00 +0800</pubDate><description><![CDATA[http://swifter.tips/


https://github.com/dzenbot/XCSwiftr


https://www.natashatherobot.com/using-swift-extensions/
http://www.swifthumb.com/article-189-1.html


http://swiftcn.io/doc/
htt]]></description><category></category></item><item><title><![CDATA[欢迎使用优快云-markdown编辑器]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/71455490</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/71455490</guid><author>wujianjun6932</author><pubDate>Tue, 09 May 2017 14:55:16 +0800</pubDate><description><![CDATA[在这里总结一些iOS开发中的小技巧，能大大方便我们的开发，持续更新。1,UITableView的Group样式下顶部空白处理//分组列表头部空白处理 
UIView *view = [[UIView alloc] initWithFrame:CGRectMake(0, 0, 0, 0.1)]; 
self.tableView.tableHeaderView = view;UITableView的pl]]></description><category></category></item><item><title><![CDATA[ios-仿咕咚]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/62216210</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/62216210</guid><author>wujianjun6932</author><pubDate>Wed, 15 Mar 2017 10:13:09 +0800</pubDate><description><![CDATA[最近项目有需求 要滚动界面像咕咚那样滚动










代码地址 https://github.com/cdwkios/LikeGuDongDemo.git  其中有些bug，欢迎大家提出修改建议谢谢！]]></description><category></category></item><item><title><![CDATA[Neginx配置]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/60878727</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/60878727</guid><author>wujianjun6932</author><pubDate>Wed, 08 Mar 2017 19:10:29 +0800</pubDate><description><![CDATA[./configure \
--prefix=/usr/local/nginx \
--pid-path=/var/run/nginx/nginx.pid \
--lock-path=/var/lock/nginx.lock \
--error-log-path=/var/log/nginx/error.log \
--http-log-path=/var/log/nginx/acces]]></description><category></category></item><item><title><![CDATA[maven 命令行创建项目]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/60757144</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/60757144</guid><author>wujianjun6932</author><pubDate>Tue, 07 Mar 2017 11:27:04 +0800</pubDate><description><![CDATA[mvn archetype:generate -DgroupId=com.taotao -DartifactId=mytaotao -DarchetypeArtifactId=maven-archetype-webapp -DarchetypeCatalog=local]]></description><category></category></item><item><title><![CDATA[mybatis-generator IDEA 使用方法]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/60149335</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/60149335</guid><author>wujianjun6932</author><pubDate>Fri, 03 Mar 2017 21:15:51 +0800</pubDate><description><![CDATA[1，用IDEA新建maven工程
2，pom 文件中写入需要的jar包



xml version="1.0" encoding="UTF-8"?>
project xmlns="http://maven.apache.org/POM/4.0.0"
         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"]]></description><category></category></item><item><title><![CDATA[mac 下 maven 配置]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/56488774</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/56488774</guid><author>wujianjun6932</author><pubDate>Wed, 22 Feb 2017 16:48:30 +0800</pubDate><description><![CDATA[进入官网下载maven
1，打开终端 输入 vi ~/.bash_profile
2,按i进入编辑状态
3，输入

export JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk1.8.0_71.jdk/Contents/Home
export M2_HOME=/Users/jianjun-wu/apache-maven-3.3.9
ex]]></description><category></category></item><item><title><![CDATA[mac 下 mysql 命令行操作]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/54602077</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/54602077</guid><author>wujianjun6932</author><pubDate>Wed, 18 Jan 2017 16:03:12 +0800</pubDate><description><![CDATA[mac mysqlworkbench 或者NAVICat不是很好用，问题多多，莫办法就用命令行控制了噻！
MYSql 终端控制命令
1,指定路径 PATH=“$PATH”:/usr/local/mysql/bin
2,输入密码 -uroot -p
3,查看 库 show tables;
4,切换 到库use database;
5,查看库中的表 show tables;
6,查看表结]]></description><category></category></item><item><title><![CDATA[ios 集成支付宝遇到的坑]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/53285463</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/53285463</guid><author>wujianjun6932</author><pubDate>Tue, 22 Nov 2016 14:25:18 +0800</pubDate><description><![CDATA[1，如果要集成支付宝自身的 openssl Uitl 等，必须在pch 文件中写入 
#ifdef __OBJC__

#import 
#import 
#endif
避免有些oc的类型与C冲突 
2， 在Serch Paht 的 Header serchPath 输入 
$(PROJECT_DIR)/AlipayPayDemo/AlipaySDK
避免 出现 not Fond]]></description><category></category></item><item><title><![CDATA[ios 处理侧滑和图片浏览器scrollView的手势冲突问题]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/52456619</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/52456619</guid><author>wujianjun6932</author><pubDate>Wed, 07 Sep 2016 09:39:37 +0800</pubDate><description><![CDATA[// 处理侧滑和图片浏览器scrollView的手势冲突问题
- (void)handleGestureRecognizer
{
    NIPNavigationController * navigation = (NIPNavigationController*)self.navigationController;
    [self.scroll.panGestureRecognizer r]]></description><category></category></item><item><title><![CDATA[ios oc 10进制转16进制字符串]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/51829561</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/51829561</guid><author>wujianjun6932</author><pubDate>Tue, 05 Jul 2016 10:49:44 +0800</pubDate><description><![CDATA[//10进制转16进制字符串
    NSString *hexString= [NSString
stringWithFormat:@"%@",[[NSString
alloc] initWithFormat:@"%1lx",20]];]]></description><category></category></item><item><title><![CDATA[解决 NSObjCRuntime的问题]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/51526162</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/51526162</guid><author>wujianjun6932</author><pubDate>Sat, 28 May 2016 18:36:22 +0800</pubDate><description><![CDATA[Xcode工程在c++和OC混合编程时 NSObjCRuntime ERROR，解决办法是在混合编程的头文件中采用#if __OBJC__ #endif
 包含头文件，比如：  
#ifdef __OBJC__ 
#import "GCHelper.h" 
#import "LBS.h" 
#endif]]></description><category></category></item><item><title><![CDATA[Xcode is mossing from working copy]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/51516262</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/51516262</guid><author>wujianjun6932</author><pubDate>Fri, 27 May 2016 14:04:01 +0800</pubDate><description><![CDATA[工程里出现了is missing from working copy字样的警告而且数量巨多，编译时实在不忍直视。所以我使用终端命令的方法解决了一下。
具体如下：


红色字体为工程的路径，自动找到.svn的文件进行删除
sudo find /Users/Scitel/Desktop/Scitel_Project/iOS-BigEvent -name ".svn" -exec rm -r ]]></description><category></category></item><item><title><![CDATA[tablviewcell中圆角处理 离屏渲染问题]]></title><link>https://blog.youkuaiyun.com/wujianjun6932/article/details/51372771</link><guid>https://blog.youkuaiyun.com/wujianjun6932/article/details/51372771</guid><author>wujianjun6932</author><pubDate>Wed, 11 May 2016 11:13:32 +0800</pubDate><description><![CDATA[@implementation TableViewCell


- (void)awakeFromNib
{
    [super
awakeFromNib];
    
    self.image1.layer.cornerRadius
 = self.image1.frame.size.width/2.0;
    self.image1.layer.masksToBou]]></description><category></category></item></channel></rss>