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验证和修复机动组件StrightLineCmd

This commit is contained in:
codeboss 2025-06-22 09:58:16 +08:00
parent 304292d7f2
commit 86cbc5a9d6
11 changed files with 248 additions and 23 deletions
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8
ComponentBasic/SurfaceMotionPlugin.cpp
View File

@ -39,7 +39,8 @@ void SurfaceMotionControlPlugin::execute(std::shared_ptr<Immediate> map,
exec_result->_success_mark = true; exec_result->_success_mark = true;
} }
else { else {
exec_result->_reason_text = "无法在指定实体（id=%1）获取%1消息，无法正常工作！"; exec_result->_reason_text = QString(u8"无法在指定实体（id=%1）获取%2消息，无法正常工作！")
.arg(this->_bind_entity.lock()->entityID()).arg(Box3DDesc().topicString());
} }
out << exec_result; out << exec_result;
} }
@ -71,7 +72,8 @@ void SurfaceMotionControlPlugin::execute(std::shared_ptr<Immediate> map,
exec_result->_success_mark = true; exec_result->_success_mark = true;
} }
else { else {
exec_result->_reason_text = "无法在指定实体（id=%1）获取%1类型消息，无法正常工作！"; exec_result->_reason_text = QString(u8"无法在指定实体（id=%1）获取%2消息，无法正常工作！")
.arg(this->_bind_entity.lock()->entityID()).arg(Box3DDesc().topicString());
} }
out << exec_result; out << exec_result;
} }
@ -114,7 +116,7 @@ void SurfaceMotionControlPlugin::execute(std::shared_ptr<Immediate> map,
if (QVector3D::crossProduct(conv_pos.normalized(), QVector3D(0, 1, 0)).z() < 0) if (QVector3D::crossProduct(conv_pos.normalized(), QVector3D(0, 1, 0)).z() < 0)
azimuth_target = 360 - azimuth_target; azimuth_target = 360 - azimuth_target;
LonLatAlt deduce_lla; LonLatAlt deduce_lla;
StandardGlobe::getTargetLLAWithDistance(_start_lla, conv_pos.length(), azimuth_target, deduce_lla); StandardGlobe::getLLAWithDistance(_start_lla, conv_pos.length(), azimuth_target, deduce_lla);
// 朝向转换，提取方位角 // 朝向转换，提取方位角
auto azimuth_self_cos = QVector3D::dotProduct(conv_psr.normalized(), QVector3D(0, 1, 0)); auto azimuth_self_cos = QVector3D::dotProduct(conv_psr.normalized(), QVector3D(0, 1, 0));

2
ComponentBasic/SurfaceMotionPlugin.h
View File

@ -5,7 +5,7 @@
/// <summary> /// <summary>
/// 水面平台机动组件 /// 水面平台机动组件
/// </summary> /// </summary>
class SurfaceMotionControlPlugin : public ProcList< class COMPONENTBASIC_EXPORT SurfaceMotionControlPlugin : public ProcList<
WsRespond<HorizontalArcMotion, RespondDefault>, WsRespond<HorizontalArcMotion, RespondDefault>,
WsRespond<StrightLineMotion, RespondDefault>, WsRespond<StrightLineMotion, RespondDefault>,
WsRespond<MotionDeduceRequest, RespondDefault>, WsRespond<MotionDeduceRequest, RespondDefault>,

2
ComponentBasic/VisibleCube.h
View File

@ -13,7 +13,7 @@ class COMPONENTBASIC_EXPORT VisibleCubePlugin : public ProcList<
WsRespond<Set3DBoxPosture, RespondDefault> WsRespond<Set3DBoxPosture, RespondDefault>
> >
{ {
private: public:
std::weak_ptr<WsEntity> _bind_entity; std::weak_ptr<WsEntity> _bind_entity;
VolumeData _self_d3; VolumeData _self_d3;
LonLatAlt _self_lla; LonLatAlt _self_lla;

3
MessageBasic/motion_access.cpp
View File

@ -65,6 +65,9 @@ double StrightLineMotion::startTimepoint() const
double StrightLineMotion::timeExpend() const double StrightLineMotion::timeExpend() const
{ {
if(_accerlate_rates == 0.0)
return _length_total / _speed_motion;
auto sqrt_v = std::sqrt(_speed_motion * _speed_motion + 2 * _accerlate_rates * _length_total); auto sqrt_v = std::sqrt(_speed_motion * _speed_motion + 2 * _accerlate_rates * _length_total);
return (sqrt_v - _speed_motion) / _accerlate_rates; return (sqrt_v - _speed_motion) / _accerlate_rates;
} }

13
SimsWorld.sln
View File

@ -31,6 +31,15 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "MessageBasic", "MessageBasi
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "StandardGlobe", "StandardGlobe\StandardGlobe.vcxproj", "{C4A07990-233A-46F5-A3A0-48544CABA594}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "StandardGlobe", "StandardGlobe\StandardGlobe.vcxproj", "{C4A07990-233A-46F5-A3A0-48544CABA594}"
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestProject", "TestProject\TestProject.vcxproj", "{843BF0C3-E18F-42FA-AA90-894AD0E116A2}"
ProjectSection(ProjectDependencies) = postProject
{20CFC220-4F5B-4D39-97FA-74C70768F1A7} = {20CFC220-4F5B-4D39-97FA-74C70768F1A7}
{46E3FBA5-6775-4638-AE2E-935675D3B9CE} = {46E3FBA5-6775-4638-AE2E-935675D3B9CE}
{C4A07990-233A-46F5-A3A0-48544CABA594} = {C4A07990-233A-46F5-A3A0-48544CABA594}
{DF15B899-B9AE-4EBE-8FCC-436C9DB6CEF0} = {DF15B899-B9AE-4EBE-8FCC-436C9DB6CEF0}
{E1104048-F35B-40B7-995C-0320E689BF09} = {E1104048-F35B-40B7-995C-0320E689BF09}
EndProjectSection
EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64 Debug|x64 = Debug|x64
@ -57,6 +66,10 @@ Global
{C4A07990-233A-46F5-A3A0-48544CABA594}.Debug|x64.Build.0 = Debug|x64 {C4A07990-233A-46F5-A3A0-48544CABA594}.Debug|x64.Build.0 = Debug|x64
{C4A07990-233A-46F5-A3A0-48544CABA594}.Release|x64.ActiveCfg = Release|x64 {C4A07990-233A-46F5-A3A0-48544CABA594}.Release|x64.ActiveCfg = Release|x64
{C4A07990-233A-46F5-A3A0-48544CABA594}.Release|x64.Build.0 = Release|x64 {C4A07990-233A-46F5-A3A0-48544CABA594}.Release|x64.Build.0 = Release|x64
{843BF0C3-E18F-42FA-AA90-894AD0E116A2}.Debug|x64.ActiveCfg = Debug|x64
{843BF0C3-E18F-42FA-AA90-894AD0E116A2}.Debug|x64.Build.0 = Debug|x64
{843BF0C3-E18F-42FA-AA90-894AD0E116A2}.Release|x64.ActiveCfg = Release|x64
{843BF0C3-E18F-42FA-AA90-894AD0E116A2}.Release|x64.Build.0 = Release|x64
EndGlobalSection EndGlobalSection
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE

37
StandardGlobe/standardglobe.cpp
View File

@ -2,7 +2,7 @@
#include <cmath> #include <cmath>
#include <QVector3D> #include <QVector3D>
double StandardGlobe::_radius_m = 65000000; double StandardGlobe::_radius_m = 6500000;
StandardGlobe::StandardGlobe() StandardGlobe::StandardGlobe()
{ {
@ -32,6 +32,8 @@ LonLatAlt StandardGlobe::ecefToLLA(const ECEFv3d& v)
rad_lon *= -1; rad_lon *= -1;
auto rx = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos + v._z_pos * v._z_pos); auto rx = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos + v._z_pos * v._z_pos);
auto rad_lat = asin(v._z_pos / rx); auto rad_lat = asin(v._z_pos / rx);
if(v._z_pos < 0)
rad_lat *= -1;
LonLatAlt ret; LonLatAlt ret;
ret._lon_deg = rad2d(rad_lon); ret._lon_deg = rad2d(rad_lon);
@ -41,7 +43,7 @@ LonLatAlt StandardGlobe::ecefToLLA(const ECEFv3d& v)
return ret; return ret;
} }
void StandardGlobe::getDistanceWithTargetLLA(const LonLatAlt& base, const LonLatAlt& target, double& dist, double& azi) void StandardGlobe::getDistanceWithLLA(const LonLatAlt& base, const LonLatAlt& target, double& dist, double& azi)
{ {
// ecef矢量 // ecef矢量
auto vec_base = llaToEcef(base).getVec3(); auto vec_base = llaToEcef(base).getVec3();
@ -72,18 +74,18 @@ void StandardGlobe::getDistanceWithTargetLLA(const LonLatAlt& base, const LonLat
} }
#include <qquaternion.h> #include <qquaternion.h>
void StandardGlobe::getTargetLLAWithDistance(const LonLatAlt& base, double dist, double azi, LonLatAlt& target) void StandardGlobe::getLLAWithDistance(const LonLatAlt& base, double dist, double azi, LonLatAlt& target)
{ {
auto ecef_bvec = llaToEcef(base).getVec3().normalized(); auto ecef_basevec = llaToEcef(base).getVec3().normalized();
QQuaternion u0(-deg2a(azi), ecef_bvec); QQuaternion u0 = QQuaternion::fromAxisAndAngle(ecef_basevec, -azi);
// 获取切线方向矢量 // 获取切线方向矢量
auto vec_hv = u0.rotatedVector(QVector3D(0, 0, 1)).normalized(); auto vec_hv = u0.rotatedVector(QVector3D(0, 0, 1)).normalized();
// 获取法线方向矢量 // 获取法线方向矢量
auto vec_bv = QVector3D::crossProduct(ecef_bvec, vec_hv).normalized(); auto vec_bv = QVector3D::crossProduct(ecef_basevec, vec_hv).normalized();
auto rad_between = dist / _radius_m; auto rad_between = dist / _radius_m;
QQuaternion u1(rad_between, vec_bv); QQuaternion u1 = QQuaternion::fromAxisAndAngle(vec_bv, rad2d(rad_between));
auto ecef_t = u1.rotatedVector(llaToEcef(base).getVec3()); auto ecef_t = u1.rotatedVector(llaToEcef(base).getVec3());
ECEFv3d sv; ECEFv3d sv;
@ -112,7 +114,7 @@ PolarPos StandardGlobe::getPolarWithLLA(const LonLatAlt& base, const LonLatAlt&
// 180°校验 // 180°校验
auto flag_vec = QVector3D::crossProduct(vec_hn, QVector3D(0, 0, 1)).normalized(); auto flag_vec = QVector3D::crossProduct(vec_hn, QVector3D(0, 0, 1)).normalized();
if (vec_bn.z() * flag_vec.z() < 0) if (flag_vec.z() < 0)
angle = 2 * PI - angle; angle = 2 * PI - angle;
// 返回方位角 // 返回方位角
@ -124,6 +126,12 @@ PolarPos StandardGlobe::getPolarWithLLA(const LonLatAlt& base, const LonLatAlt&
auto cos_pitch = QVector3D::dotProduct(vec_hn, vec_btn); auto cos_pitch = QVector3D::dotProduct(vec_hn, vec_btn);
auto pit_deg = rad2d(acos(cos_pitch)); auto pit_deg = rad2d(acos(cos_pitch));
auto axis_x = QVector3D::crossProduct(vec_hn, vec_btn).normalized();
auto axis_flag = QVector3D::crossProduct(axis_x, vec_hn);
if (QVector3D::dotProduct(axis_flag, vec_bn) < 0) {
pit_deg *= -1;
}
PolarPos p; PolarPos p;
p._azimuth_deg = azi_deg; p._azimuth_deg = azi_deg;
p._pitch_deg = pit_deg; p._pitch_deg = pit_deg;
@ -133,17 +141,16 @@ PolarPos StandardGlobe::getPolarWithLLA(const LonLatAlt& base, const LonLatAlt&
LonLatAlt StandardGlobe::getLLAWithPolar(const LonLatAlt& base, const PolarPos& target) LonLatAlt StandardGlobe::getLLAWithPolar(const LonLatAlt& base, const PolarPos& target)
{ {
auto ecef_b = llaToEcef(base).getVec3(); auto ecef_bvec = llaToEcef(base).getVec3();
auto u_azi = QQuaternion(-deg2a(target._azimuth_deg), ecef_b.normalized()); auto u_azi = QQuaternion::fromAxisAndAngle(ecef_bvec.normalized(),-target._azimuth_deg);
auto vec_ts = u_azi.rotatedVector(QVector3D(0, 0, 1)).normalized(); auto vec_ts = u_azi.rotatedVector(QVector3D(0, 0, 1)).normalized();
auto axis_pitch = QVector3D::crossProduct(vec_ts, ecef_b.normalized()); auto axis_pitch = QVector3D::crossProduct(vec_ts, ecef_bvec.normalized());
auto u_pit = QQuaternion(deg2a(target._pitch_deg), axis_pitch); auto u_pit = QQuaternion::fromAxisAndAngle(axis_pitch, target._pitch_deg);
auto r_shadow = target._dist_m * cos(deg2a(target._pitch_deg)); auto ts_appv = u_pit.rotatedVector(vec_ts).normalized() * target._dist_m;
auto ts_appv = u_pit.rotatedVector(vec_ts).normalized() * r_shadow;
auto ecef_target = ecef_b + ts_appv; auto ecef_target = ecef_bvec + ts_appv;
ECEFv3d tt = ECEFv3d::fromVec3(ecef_target); ECEFv3d tt = ECEFv3d::fromVec3(ecef_target);
return ecefToLLA(tt); return ecefToLLA(tt);

6
StandardGlobe/standardglobe.h
View File

@ -2,7 +2,7 @@
#include "standardglobe_global.h" #include "standardglobe_global.h"
#define PI 3.14159265354 #define PI 3.14159265358979323846
#define deg2a(v) v / 180.0 * PI #define deg2a(v) v / 180.0 * PI
#define rad2d(v) v / PI * 180.0 #define rad2d(v) v / PI * 180.0
@ -82,7 +82,7 @@ public:
/// <param name="target"></param> /// <param name="target"></param>
/// <param name="dist"></param> /// <param name="dist"></param>
/// <param name="azi"></param> /// <param name="azi"></param>
static void getDistanceWithTargetLLA(const LonLatAlt& base, const LonLatAlt& target, double& dist, double& azi); static void getDistanceWithLLA(const LonLatAlt& base, const LonLatAlt& target, double& dist, double& azi);
/// <summary> /// <summary>
/// 根据两点之间的大地线长度和b->t初始方位角，计算目标LLA定位坐标 /// 根据两点之间的大地线长度和b->t初始方位角，计算目标LLA定位坐标
/// </summary> /// </summary>
@ -90,7 +90,7 @@ public:
/// <param name="dist"></param> /// <param name="dist"></param>
/// <param name="azi"></param> /// <param name="azi"></param>
/// <param name="target"></param> /// <param name="target"></param>
static void getTargetLLAWithDistance(const LonLatAlt& base, double dist, double azi, LonLatAlt& target); static void getLLAWithDistance(const LonLatAlt& base, double dist, double azi, LonLatAlt& target);
/// <summary> /// <summary>
/// 通过LLA坐标，获取目标极坐标 /// 通过LLA坐标，获取目标极坐标
/// </summary> /// </summary>

110
TestProject/TestProject.vcxproj Normal file
View File

@ -0,0 +1,110 @@
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<Project DefaultTargets="Build" ToolsVersion="17.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<Platform>x64</Platform>
</ProjectConfiguration>
<ProjectConfiguration Include="Release|x64">
<Configuration>Release</Configuration>
<Platform>x64</Platform>
</ProjectConfiguration>
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<ProjectGuid>{843BF0C3-E18F-42FA-AA90-894AD0E116A2}</ProjectGuid>
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<CharacterSet>Unicode</CharacterSet>
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<Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
<Message Importance="High" Text="QtMsBuild: could not locate qt.targets, qt.props; project may not build correctly." />
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31
TestProject/TestProject.vcxproj.filters Normal file
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@ -0,0 +1,31 @@
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12
TestProject/TestProject.vcxproj.user Normal file
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47
TestProject/main.cpp Normal file
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@ -0,0 +1,47 @@
#include <QtCore/QCoreApplication>
#include <standardglobe.h>
#include <QDebug>
#include <memory>
#include <motion_access.h>
#include <SurfaceMotionPlugin.h>
#include <internal_impl.h>
#include <VisibleCube.h>
int main(int argc, char* argv[])
{
QCoreApplication app(argc, argv);
auto cmd = std::make_shared<StrightLineMotion>();
cmd->_start_time = 0;
cmd->_speed_motion = 20;
cmd->_length_total = 200000;
auto enti = std::make_shared<RtWsEntity>();
auto motion = std::make_shared<SurfaceMotionControlPlugin>();
enti->append(motion);
auto box3d = std::make_shared<VisibleCubePlugin>();
enti->append(box3d);
auto immediate = std::make_shared<ImmediateKernel>(enti);
QList<std::shared_ptr<RespondDefault>> out;
motion->execute(immediate, cmd, out);
for (auto rst : out)
qDebug() << rst->_success_mark << rst->_reason_text;
auto total = cmd->timeExpend();
for (auto timepoint = 0; timepoint < 10000; timepoint += 1) {
//qDebug() << cmd->posAtTimespan(timepoint);
auto sync = std::make_shared<SyncRequest>();
sync->_time_current = timepoint;
motion->execute(immediate, sync, out);
qDebug() <<QString("L:%1 B:%2 H:%3").arg(box3d->_self_lla._lon_deg).arg(box3d->_self_lla._lat_deg).arg(box3d->_self_lla._alt_m);
//qDebug() << box3d->_self_posture._azimuth_deg << box3d->_self_posture._pitch_deg << box3d->_self_posture._roll_deg;
//qDebug() << timepoint << "========================";
}
return app.exec();
}