R16移动性增强相关技术总结
Dual Active Protocol Handover Dual Active Protocol Handover意为双激活协议栈切换,下文简称DAPS切换,DAPS切换的核心思想是切换过程中,在UE成功连接到目标基站前继续保持和源基站的连接和数据传输,…
Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks Lewis P, Perez E, Piktus A, et al. Retrieval-augmented generation for knowledge-intensive nlp tasks[J]. Advances in Neural Information Processing Systems, 2020, 33: 9459-9474.
1.点从ego系转odometry系(ego -> odometry)
struct Point
{float x;float y;float angle;
};
Point trans; // is the odom to ego transform
Point odom_coord; is the odom coord
Point ego_coord; is the ego coordfloat odom_coord.x = (ego_coord.x - trans.x) * st…