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carrot_dist2是计算出了一个需要导航到的目标点的距离的平方，已经转换到baselink 坐标下了
我根据英语翻译过来 curvature为计算圆的曲率 但是它的计算公式为 2*目标点的y高度 / 直线距离的平方。 不明白为何会这样计算曲率
@王涛 看论文，论文里得出来的
@小鱼 哪个论文呀
@王涛 https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf
@小鱼 感谢大佬 不过我看不懂。我退下了
