Hark
318ad0e264
- 避障路径改为多目标 Lazy RRT-Connect + 捷径平滑；碰撞窄相位预测提速。 - 规划提速 32%：(2,4) 零件对类离线间隙表、撞点前移、判定记忆、routeFrom 惰性回退、平滑预算收紧。
13 lines
1.1 KiB
JavaScript
13 lines
1.1 KiB
JavaScript
/* 路径规划基准的求解器装配（Node）：node tests/route_bench.cjs [solver.js] [N] */
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const fs=require('fs'),path=require('path');
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const ROOT=path.resolve(__dirname,'..');
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module.exports=function(solverPath,collidePath){
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const ArmIK=require(solverPath||path.join(ROOT,'webapp/js/ik-solver.js'));
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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]}};
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const travel=JSON.parse(fs.readFileSync(ROOT+'/docs/travel.json','utf8'));
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const COL=JSON.parse(fs.readFileSync(collidePath||ROOT+'/docs/collide.json','utf8'));
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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};}
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const S=ArmIK.make({joints:JMap,travel:TR,tcp:[19.5,128,93],collide:COL});
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return {S,ArmIK};
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};
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