111 lines
2.8 KiB
Markdown
111 lines
2.8 KiB
Markdown
# 自定义路径功能 - 快速导航
|
||
|
||
## 📍 文档位置
|
||
|
||
所有自定义路径功能的文档已整理到：
|
||
|
||
```
|
||
docs/custom_path/
|
||
```
|
||
|
||
## 🚀 快速开始
|
||
|
||
### 1. 查看文档目录
|
||
```bash
|
||
cd docs/custom_path
|
||
cat README.md
|
||
```
|
||
|
||
### 2. 推荐阅读顺序
|
||
|
||
**新手入门（5分钟）：**
|
||
```
|
||
docs/custom_path/FINAL_SUMMARY.md # 功能总览 ⭐
|
||
docs/custom_path/QUICKSTART_CUSTOM_PATH.md # 快速上手
|
||
```
|
||
|
||
**QT界面集成（10分钟）：**
|
||
```
|
||
docs/custom_path/apply_qt_modifications.md # 修改步骤 ⭐
|
||
docs/custom_path/qt_gui_custom_code_snippet.cpp # 代码示例
|
||
```
|
||
|
||
**深入学习（30分钟）：**
|
||
```
|
||
docs/custom_path/CUSTOM_PATH_GUIDE.md # 完整教程
|
||
```
|
||
|
||
## 📦 核心功能
|
||
|
||
1. **CSV文件加载** - 从外部文件加载任意路径
|
||
2. **样条插值** - 从关键点生成平滑曲线
|
||
3. **路径保存** - 导出路径为CSV格式
|
||
4. **QT界面集成** - 图形化操作
|
||
|
||
## 🔧 安装
|
||
|
||
### 自动安装（推荐）
|
||
```bash
|
||
bash docs/custom_path/install_custom_path.sh
|
||
```
|
||
|
||
### 手动安装
|
||
参考文档：`docs/custom_path/CUSTOM_PATH_GUIDE.md`
|
||
|
||
## 📖 完整文档列表
|
||
|
||
访问 `docs/custom_path/README.md` 查看所有文档的详细说明。
|
||
|
||
## 📁 文件结构
|
||
|
||
```
|
||
agv_path_tracking/
|
||
├── src/
|
||
│ └── path_curve_custom.cpp # 核心实现
|
||
├── include/
|
||
│ └── path_curve.h # 需要添加方法声明
|
||
├── examples/
|
||
│ ├── custom_path.csv # 示例路径
|
||
│ └── warehouse_path.csv # 仓库路径
|
||
├── docs/
|
||
│ └── custom_path/ # 📚 所有文档在这里！
|
||
│ ├── README.md # 文档导航
|
||
│ ├── FINAL_SUMMARY.md # 功能总览 ⭐
|
||
│ ├── QUICKSTART_CUSTOM_PATH.md
|
||
│ ├── CUSTOM_PATH_GUIDE.md
|
||
│ ├── apply_qt_modifications.md ⭐
|
||
│ ├── QT_GUI_CUSTOM_PATH_GUIDE.md
|
||
│ ├── qt_gui_custom_code_snippet.cpp
|
||
│ ├── install_custom_path.sh
|
||
│ ├── path_curve.h.patch
|
||
│ └── CUSTOM_PATH_IMPLEMENTATION_SUMMARY.txt
|
||
└── CUSTOM_PATH_README.md # 本文件（快速导航）
|
||
```
|
||
|
||
## ✨ 快速示例
|
||
|
||
```cpp
|
||
// 1. 加载自定义路径
|
||
PathCurve path;
|
||
path.loadFromCSV("examples/custom_path.csv");
|
||
|
||
// 2. 使用路径
|
||
PathTracker tracker(agv);
|
||
tracker.setReferencePath(path);
|
||
tracker.generateControlSequence("pure_pursuit", 0.1, 20.0);
|
||
```
|
||
|
||
## 🎯 使用场景
|
||
|
||
| 场景 | 查看文档 |
|
||
|-----|---------|
|
||
| 快速试用 | `docs/custom_path/QUICKSTART_CUSTOM_PATH.md` |
|
||
| QT界面 | `docs/custom_path/apply_qt_modifications.md` |
|
||
| 深入学习 | `docs/custom_path/CUSTOM_PATH_GUIDE.md` |
|
||
| 安装配置 | `docs/custom_path/install_custom_path.sh` |
|
||
| 完整总览 | `docs/custom_path/FINAL_SUMMARY.md` ⭐ |
|
||
|
||
---
|
||
|
||
**开始使用**: `cd docs/custom_path && cat README.md`
|