下面是一个简单的 C++ 程序示例，用于计算两轮差速机器人的运动学解算。这个程序包括了运动学正解和逆解的实现。

我们将定义一个类 DiffDriveSolver，其中包含了正解和逆解的函数。此外，我们还将定义一个简单的测试函数来演示如何使用这个类。

C++ 代码示例

#include <iostream>
#include <cmath> // For M_PI and basic math functionsclass DiffDriveSolver {
public:// Constructor to initialize the distance between wheelsDiffDriveSolver(double wheel_distance) : wheel_distance_(wheel_distance) {}// Forward kinematics: from wheel speeds to linear and angular velocityvoid forwardKinematics(double left_wheel_speed, double right_wheel_speed,double& linear_velocity, double& angular_velocity) const {linear_velocity = (left_wheel_speed + right_wheel_speed) / 2.0;angular_velocity = (right_wheel_speed - left_wheel_speed) / wheel_distance_;}// Inverse kinematics: from linear and angular velocity to wheel speedsvoid inverseKinematics(double linear_velocity, double angular_velocity,double& left_wheel_speed, double& right_wheel_speed) const {left_wheel_speed = linear_velocity - (angular_velocity * wheel_distance_) / 2.0;right_wheel_speed = linear_velocity + (angular_velocity * wheel_distance_) / 2.0;}private:double wheel_distance_; // Distance between the wheels
};// Test function to demonstrate usage
void testDiffDriveSolver() {DiffDriveSolver solver(0.5); // Assume the distance between wheels is 0.5 meters// Test forward kinematicsdouble linear_velocity, angular_velocity;solver.forwardKinematics(0.2, 0.4, linear_velocity, angular_velocity);std::cout << "Forward Kinematics: Linear Velocity = " << linear_velocity<< ", Angular Velocity = " << angular_velocity << std::endl;// Test inverse kinematicsdouble left_wheel_speed, right_wheel_speed;solver.inverseKinematics(0.3, 1.0, left_wheel_speed, right_wheel_speed);std::cout << "Inverse Kinematics: Left Wheel Speed = " << left_wheel_speed<< ", Right Wheel Speed = " << right_wheel_speed << std::endl;
}int main() {testDiffDriveSolver();return 0;
}

说明

1. 类 DiffDriveSolver:

   • 构造函数接受轮子间的距离作为参数。
   • forwardKinematics 函数接受左右轮速度，并计算出线速度和角速度。
   • inverseKinematics 函数接受线速度和角速度，并计算出左右轮速度。

2. 测试函数 testDiffDriveSolver:

   • 创建了一个 DiffDriveSolver 对象，假设轮子间距离为 0.5 米。
   • 测试了正解和逆解函数，并打印出结果。

编译和运行

您可以使用以下命令编译上面的代码：

g++ -o diff_drive_solver diff_drive_solver.cpp -std=c++11
./diff_drive_solver

这将输出两个测试的结果，一个是正解的结果，另一个是逆解的结果。