feat(ik): 避障路径改为多目标 Lazy RRT-Connect + 捷径平滑；碰撞窄相位预筛提速 38%；动画按轴速比时间参数化、途经点不停顿

2026-10-15 05:05:24 +00:00
parent 1dfdd48792
commit 8ad5b3b4fa
5 changed files with 351 additions and 12 deletions
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+/* 路径规划基准的求解器装配（Node）：node tests/route_bench.cjs [solver.js] [N] */
+const fs=require('fs'),path=require('path');
+const ROOT=path.resolve(__dirname,'..');
+module.exports=function(solverPath){
+  const ArmIK=require(solverPath||path.join(ROOT,'webapp/js/ik-solver.js'));
+  const JMap=/* 关节表取自 arm/kinematics.py JOINTS（无需 mesh_arm.json） */ {"J1": {"rear": [-51.0, 128.0, 610.0], "d": [1, 0, 0]}, "J2": {"rear": [19.5, 100.0, 490.0], "d": [0, 1, 0]}, "J3": {"rear": [19.5, 128.0, 445.0], "d": [0, 0, -1]}, "J4": {"rear": [19.5, 100.0, 332.0], "d": [0, 1, 0]}, "J5": {"rear": [19.5, 100.0, 222.0], "d": [0, 1, 0]}, "J6": {"rear": [19.5, 128.0, 176.0], "d": [0, 0, -1]}};
+  const travel=JSON.parse(fs.readFileSync(ROOT+'/docs/travel.json','utf8'));
+  const COL=JSON.parse(fs.readFileSync(ROOT+'/docs/collide.json','utf8'));
+  const TR={};for(const t of travel){const a=COL.adj[t.axis];TR[t.axis]={lo:a?a[0]:t.lo,hi:a?a[1]:t.hi,continuous:!!t.continuous};}
+  const S=ArmIK.make({joints:JMap,travel:TR,tcp:[19.5,128,93],collide:COL});
+  return {S,ArmIK};
+};