Question

我需要计算余弦θ和θ的值此外，我需要最终找到机器人的当前位置和它移动的新位置之间的角度值。 theta值。

import java.io.IOException;
import java.lang.reflect.Method;
import mrds_project.Path;
import mrds_project.Pose;
import mrds_project.controller.Controller;
import java.lang.Math;

public class NaiveStrategy implements PathStrategy {

private final Controller controller;

private NaiveStrategy() {

}
public NaiveStrategy(Controller controller) {
    this.controller = controller;
}

@Override
public void move(Path path) {
    for (Pose target : path) {
                    Pose currentPose = controller.getPose();
        double[] targetPoint = target.getPosition().getVector();
                    double targetVectorX;
                    double targetVectorY;
                    double currentVector;
                    targetVectorX = targetPoint[0] - currentPose.getPosition().getVector()[0];
                    targetVectorY = targetPoint[1] - currentPose.getPosition().getVector()[1];
    }
}
    public double dotPro1(double[] vectorA, double[] vectorB){
        double[] vecPro;
        vecPro = new double[2];
        vecPro[0] = vectorA[0]*vectorB[0];
        vecPro[1] = vectorA[1]*vectorB[1];
        return vecPro[0] + vecPro[1];
    }
    public double dotPro2(double[] length){
        double[] lenPro;
        lenPro = new double[1];
        lenPro[0] = length[0];
        return lenPro[0];
    }
    public static double cosine(double a) throws IOException, ClassNotFoundException{
        double x = Math.cos(Math.toRadians(a));
        Class c = Class.forName("NaiveStrategy");
        Class methodTypes[] = new Class[3];
        methodTypes[0] = Double.TYPE;
        methodTypes[1] = Double.TYPE;
        methodTypes[2] = Double.TYPE;
        Method[] m = c.getMethods();
        NaiveStrategy ns = new NaiveStrategy();
        Object arg[] = new Object[3];
        arg[0] = new Double(50);
        arg[1] = new Double(50);
        arg[2] = new Double(50);
        Object o = m.ns(ns, arg);
        return 0;  
    }
}

我需要知道答案，我在构造函数中遇到错误，我知道为什么它是因为“变量控制器可能没有初始化”。和ERROR在返回语句前的最后一行，我不知道，它说“找不到符号”

Controller.java
package mrds_project.controller;

import mrds_project.Pose;


public interface Controller {
void setVelocity(int linear, int angular);
public Pose getPose();

}
Pose.java
package mrds_project;

import java.util.Map;

public class Pose {
private final Quaternion orientation;
private final Quaternion position;

public Pose(Map<String, Object> mrdsmap)
{
Map<String, Object> orientationMap = (Map<String, Object>) mrdsmap.get("Orientation");
double w = (Double) orientationMap.get("W");
double x = (Double)orientationMap.get("X");
double y = (Double)orientationMap.get("Y");
double z = (Double)orientationMap.get("Z");
orientation = new Quaternion(w, x, y, z);
Map<String, Object> positionMap = (Map<String, Object>) mrdsmap.get("Position");
double x1 = (Double)positionMap.get("X");
double y1 = (Double)positionMap.get("Y");
double z1 = (Double)positionMap.get("Z");
position = new Quaternion(x1, y1, z1);
}


public Quaternion getOrientation() {
return orientation;
}

public Quaternion getPosition() {
return position;
}
}

Answer 1

您不能拥有未分配的最终变量

private final Controller controller;

和默认构造函数 - 编译器将防止未分配的变量。删除final关键字将允许您保留2个构造函数。

Answer 2

更改

Object o = m.ns(ns, arg);

到

Object o = m.invoke(ns, arg);

但是你为什么还要使用反射呢？为什么不使用

    public static double cosine(double a) {
        double x = Math.cos(Math.toRadians(a));
        NaiveStrategy ns = new NaiveStrategy();
        ns.YourMethodHere(50, 50, 50);
        return 0;  
    }

计算物体的角度和余弦值

2 个答案: