{"id":39169,"date":"2023-03-30T13:25:59","date_gmt":"2022-11-13T22:09:21","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bb%8e%e7%ac%ac12%e6%ac%a1%e5%bc%80%e5%a7%8b%e4%bd%bf%e7%94%a8%e7%89%a9%e7%90%86%e4%bc%a0%e6%84%9f%e5%99%a8%e7%9a%84lua%e5%9c%a8stowa%e4%b8%8a%e5%bc%80%e5%a7%8b%e3%80%82\/"},"modified":"2024-01-15T10:10:41","modified_gmt":"2024-01-15T02:10:41","slug":"%e4%bb%8e%e7%ac%ac12%e6%ac%a1%e5%bc%80%e5%a7%8b%e4%bd%bf%e7%94%a8%e7%89%a9%e7%90%86%e4%bc%a0%e6%84%9f%e5%99%a8%e7%9a%84lua%e5%9c%a8stowa%e4%b8%8a%e5%bc%80%e5%a7%8b%e3%80%82","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bb%8e%e7%ac%ac12%e6%ac%a1%e5%bc%80%e5%a7%8b%e4%bd%bf%e7%94%a8%e7%89%a9%e7%90%86%e4%bc%a0%e6%84%9f%e5%99%a8%e7%9a%84lua%e5%9c%a8stowa%e4%b8%8a%e5%bc%80%e5%a7%8b%e3%80%82\/","title":{"rendered":"\u4ece\u7b2c12\u6b21\u5f00\u59cb\u4f7f\u7528\u7269\u7406\u4f20\u611f\u5668\u7684Lua\u5728Stowa\u4e0a\u5f00\u59cb"},"content":{"rendered":"

 <\/p>\n

\u8bf7\u968f\u610f\u6dfb\u52a0\u8f93\u51fa<\/p>\n

\r\npi<\/span>=<\/span>math.pi<\/span>\r\npi2<\/span>=<\/span>2<\/span>*<\/span>pi<\/span>\r\n\r\n--multiplier matrix<\/span>\r\nfunction<\/span> multiplier<\/span>(<\/span>A<\/span>,<\/span> B<\/span>)<\/span>\r\n\tif<\/span> #<\/span>A<\/span>[<\/span>1<\/span>]<\/span> ~=<\/span> #<\/span>B<\/span> then<\/span> return<\/span> nil<\/span> end<\/span>\r\n\tlocal<\/span> r<\/span> =<\/span> {}<\/span>\r\n\tfor<\/span> i<\/span> =<\/span> 1<\/span>,<\/span> #<\/span>A<\/span> do<\/span> r<\/span>[<\/span>i<\/span>]<\/span> =<\/span> {}<\/span> end<\/span>\r\n\tfor<\/span> i<\/span> =<\/span> 1<\/span>,<\/span> #<\/span>A<\/span> do<\/span>\r\n\t\tfor<\/span> j<\/span> =<\/span> 1<\/span>,<\/span> #<\/span>B<\/span>[<\/span>1<\/span>]<\/span> do<\/span>\r\n\t\t\tlocal<\/span> s<\/span> =<\/span> 0<\/span>\r\n\t\t\tfor<\/span> k<\/span> =<\/span> 1<\/span>,<\/span> #<\/span>B<\/span> do<\/span> s<\/span> =<\/span> s<\/span> +<\/span> A<\/span>[<\/span>i<\/span>][<\/span>k<\/span>]<\/span> *<\/span> B<\/span>[<\/span>k<\/span>][<\/span>j<\/span>]<\/span> end<\/span>\r\n\t\t\tr<\/span>[<\/span>i<\/span>][<\/span>j<\/span>]<\/span> =<\/span> s<\/span>\r\n\t\tend<\/span>\r\n\tend<\/span>\r\n\treturn<\/span> r<\/span>\r\nend<\/span>\r\n\r\n--transporse matrix<\/span>\r\nfunction<\/span> transpose<\/span>(<\/span>M<\/span>)<\/span>\r\n\tlocal<\/span> r<\/span> =<\/span> {}<\/span>\r\n\tfor<\/span> i<\/span> =<\/span> 1<\/span>,<\/span> #<\/span>M<\/span>[<\/span>1<\/span>]<\/span> do<\/span>\r\n\t\tr<\/span>[<\/span>i<\/span>]<\/span> =<\/span> {}<\/span>\r\n\t\tfor<\/span> j<\/span> =<\/span> 1<\/span>,<\/span> #<\/span>M<\/span> do<\/span> r<\/span>[<\/span>i<\/span>][<\/span>j<\/span>]<\/span> =<\/span> M<\/span>[<\/span>j<\/span>][<\/span>i<\/span>]<\/span> end<\/span>\r\n\tend<\/span>\r\n\treturn<\/span> r<\/span>\r\nend<\/span>\r\n\r\n--rotation matrix<\/span>\r\nfunction<\/span> rotation<\/span>(<\/span>T<\/span>)<\/span>\r\n\tlocal<\/span> RX<\/span>,<\/span> RY<\/span>,<\/span> RZ<\/span>,<\/span> qx<\/span>,<\/span> qy<\/span>,<\/span> qz<\/span>\r\n\tqx<\/span>,<\/span> qy<\/span>,<\/span> qz<\/span> =<\/span> T<\/span>[<\/span>1<\/span>],<\/span> T<\/span>[<\/span>2<\/span>],<\/span> T<\/span>[<\/span>3<\/span>]<\/span>\r\n\tRX<\/span> =<\/span> {<\/span> {<\/span> 1<\/span>,<\/span> 0<\/span>,<\/span> 0<\/span> },<\/span> {<\/span> 0<\/span>,<\/span> math.cos<\/span>(<\/span>qx<\/span>),<\/span> -<\/span>math.sin<\/span>(<\/span>qx<\/span>)<\/span> },<\/span> {<\/span> 0<\/span>,<\/span> math.sin<\/span>(<\/span>qx<\/span>),<\/span> math.cos<\/span>(<\/span>qx<\/span>)<\/span> }<\/span> }<\/span>\r\n\tRY<\/span> =<\/span> {<\/span> {<\/span> math.cos<\/span>(<\/span>qy<\/span>),<\/span> 0<\/span>,<\/span> math.sin<\/span>(<\/span>qy<\/span>)<\/span> },<\/span> {<\/span> 0<\/span>,<\/span> 1<\/span>,<\/span> 0<\/span> },<\/span> {<\/span> -<\/span>math.sin<\/span>(<\/span>qy<\/span>),<\/span> 0<\/span>,<\/span> math.cos<\/span>(<\/span>qy<\/span>)<\/span> }<\/span> }<\/span>\r\n\tRZ<\/span> =<\/span> {<\/span> {<\/span> math.cos<\/span>(<\/span>qz<\/span>),<\/span> -<\/span>math.sin<\/span>(<\/span>qz<\/span>),<\/span> 0<\/span> },<\/span> {<\/span> math.sin<\/span>(<\/span>qz<\/span>),<\/span> math.cos<\/span>(<\/span>qz<\/span>),<\/span> 0<\/span> },<\/span> {<\/span> 0<\/span>,<\/span> 0<\/span>,<\/span> 1<\/span> }<\/span> }<\/span>\r\n\treturn<\/span> multiplier<\/span>(<\/span>RZ<\/span>,<\/span> multiplier<\/span>(<\/span>RY<\/span>,<\/span> RX<\/span>))<\/span>\r\nend<\/span>\r\n\r\nfunction<\/span> onTick<\/span>()<\/span>\r\n\r\n\t--gps position (m)<\/span>\r\n\tgps<\/span>=<\/span>{}<\/span>\r\n\tgps<\/span>.<\/span>x<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>1<\/span>)<\/span>\r\n\tgps<\/span>.<\/span>y<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>3<\/span>)<\/span>\r\n\tgps<\/span>.<\/span>z<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>2<\/span>)<\/span>--height<\/span>\r\n\t\r\n\t--liner speed (m\/s)<\/span>\r\n\tliner<\/span>=<\/span>{}<\/span>\r\n\tliner<\/span>.<\/span>x<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>7<\/span>)<\/span>\r\n\tliner<\/span>.<\/span>y<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>9<\/span>)<\/span>\r\n\tliner<\/span>.<\/span>z<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>8<\/span>)<\/span>--height<\/span>\r\n\r\n\t--tilt angle (rotation)<\/span>\r\n\ttilt<\/span>=<\/span>{}<\/span>\r\n\ttilt<\/span>.<\/span>x<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>15<\/span>)<\/span>--pitch<\/span>\r\n\ttilt<\/span>.<\/span>y<\/span>=-<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>16<\/span>)<\/span>--roll<\/span>\r\n\ttilt<\/span>.<\/span>z<\/span>=<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>17<\/span>)<\/span>--yaw(compass)<\/span>\r\n\r\n\r\n\t--angular<\/span>\r\n\tlocal<\/span> euler<\/span> =<\/span> {<\/span> -<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>4<\/span>),<\/span> -<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>5<\/span>),<\/span> -<\/span>input<\/span>.<\/span>getNumber<\/span>(<\/span>6<\/span>)<\/span> }<\/span>\r\n\tlocal<\/span> rT<\/span> =<\/span> rotation<\/span>(<\/span>euler<\/span>)<\/span>\r\n\t--local rT = transpose(r)<\/span>\r\n\t\r\n\tglobalAngular<\/span>=<\/span>{<\/span> {<\/span> input<\/span>.<\/span>getNumber<\/span>(<\/span>10<\/span>)<\/span> },<\/span> {<\/span> input<\/span>.<\/span>getNumber<\/span>(<\/span>11<\/span>)<\/span> },<\/span> {<\/span> input<\/span>.<\/span>getNumber<\/span>(<\/span>12<\/span>)<\/span> }<\/span> }<\/span>\r\n\tlocal<\/span> angular<\/span> =<\/span> multiplier<\/span>(<\/span>rT<\/span>,<\/span> globalAngular<\/span>)<\/span>\r\n\tangularVelocity<\/span>=<\/span>{<\/span> x<\/span>=<\/span>angular<\/span>[<\/span>1<\/span>][<\/span>1<\/span>],<\/span> y<\/span>=<\/span>angular<\/span>[<\/span>3<\/span>][<\/span>1<\/span>],<\/span> z<\/span>=<\/span>angular<\/span>[<\/span>2<\/span>][<\/span>1<\/span>]<\/span> }<\/span>\r\n\r\nend<\/span>\r\nfunction<\/span> onDraw<\/span>()<\/span>\r\n\tw<\/span>=<\/span>screen<\/span>.<\/span>getWidth<\/span>()<\/span>\r\n\th<\/span>=<\/span>screen<\/span>.<\/span>getHeight<\/span>()<\/span>\r\n\t\r\nend<\/span>\r\n<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"
  \u8bf7\u968f\u610f\u6dfb\u52a0\u8f93\u51fa pi=math.pi pi2=2*pi –multiplier matrix  […]<\/p>\n","protected":false},"author":8,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-39169","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\n\u4ece\u7b2c12\u6b21\u5f00\u59cb\u4f7f\u7528\u7269\u7406\u4f20\u611f\u5668\u7684Lua\u5728Stowa\u4e0a\u5f00\u59cb - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.silicloud.com\/zh\/blog\/\u4ece\u7b2c12\u6b21\u5f00\u59cb\u4f7f\u7528\u7269\u7406\u4f20\u611f\u5668\u7684lua\u5728stowa\u4e0a\u5f00\u59cb\u3002\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u4ece\u7b2c12\u6b21\u5f00\u59cb\u4f7f\u7528\u7269\u7406\u4f20\u611f\u5668\u7684Lua\u5728Stowa\u4e0a\u5f00\u59cb\" \/>\n<meta property=\"og:description\" content=\"  \u8bf7\u968f\u610f\u6dfb\u52a0\u8f93\u51fa pi=math.pi pi2=2*pi --multiplier matrix […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/\u4ece\u7b2c12\u6b21\u5f00\u59cb\u4f7f\u7528\u7269\u7406\u4f20\u611f\u5668\u7684lua\u5728stowa\u4e0a\u5f00\u59cb\u3002\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - 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