test

Author: yangtzech

docs/modules/6_path_tracking/pure_pursuit_tracking/pure_pursuit_tracking_main.rst

@@ -4,6 +4,104 @@ Pure pursuit tracking
 Path tracking simulation with pure pursuit steering control and PID
 speed control.
 
+.. raw:: latex
+   \usepackage{tikz}
+   \usetikzlibrary{shapes.misc, shadows, calc, positioning, backgrounds}
+   \usepackage[margin=1cm]{geometry} % 调整页面边距
+
+   \begin{document}
+
+   \begin{figure}[htbp]
+      \centering
+      \begin{tikzpicture}[line width=1.7pt, scale=0.6, every node/.style={scale=0.6}] % 缩放图形
+
+         \pgfmathsetmacro{\dist}{3}
+         \pgfmathsetmacro{\deltavar}{11.3}
+         \pgfmathsetmacro{\ax}{tan(90-\deltavar)*\dist*(-1)}
+         \pgfmathsetmacro{\lookahead}{12}
+         \pgfmathsetmacro{\cs}{17}
+         \pgfmathsetmacro{\csb}{4}
+
+         \path[clip] (-\cs,-\csb)--(-\cs,\cs)--(\cs,\cs)--(\cs, -\csb) --cycle;
+
+         % NODES
+         \node(tire1)[draw=blue, thick, fill=white,
+               shape=rounded rectangle,
+               drop shadow={opacity=.5,shadow xshift=0pt},
+               minimum width=1.8cm,
+               minimum height=0.5cm,
+               line width =2,
+               rotate=90]  at (0,0)   {};
+
+         \node(tire2)[draw=blue, thick, fill=white,
+               shape=rounded rectangle,
+               drop shadow={opacity=.5,shadow xshift=0pt},
+               minimum width=1.8cm,
+               minimum height=0.5cm,
+               line width =2,
+               rotate=\deltavar-90]  at (0,\dist)   {};
+
+         \node(triangle_left) at (\ax,0){};
+
+         % TRIANGLE
+         \draw[line width=2, color=blue]  (tire1.center) -- (tire2.center);
+         \draw[dashed]  (triangle_left.center) -- (tire2.center);
+         \draw[dashed]  (triangle_left.center) -- (tire1.center);
+
+         % length R and L 
+         \draw[<->]  (\ax, -1) -- (0,-1) node[midway, fill=white] {\Huge $R$};
+         \draw[<->]  (\lookahead, 0) -- (0,0) node[midway, fill=white] {\Huge $l_d$};
+
+         % angle delta top
+         \draw[dashed] (0, \dist) -- (0,\dist+6);
+         \draw[dashed] (0, \dist) -- ({-sin(\deltavar)*6},{\dist+6)});
+         \draw[color=black] (0,\dist+3.3) arc (90:90+\deltavar:3.3);
+         \draw (-0.27, \dist+2.9) node[black] {\Huge $\delta$};
+
+         % angle delta left
+         \draw[color=black] ({\ax+2.7},0) arc (0:1.3*\deltavar:2);
+         \draw (\ax+1.9, 0.85) node[black] {\Huge $\delta$};
+
+         % circle 
+         \draw[ ->, orange, line width=3] (0,0) arc (0:70:-\ax);
+
+         % circle LookAhead
+         \draw[ ->, dotted] (\lookahead,0) arc (0:360:\lookahead);
+
+         % ICR
+         \node[red](ICR) at (\ax,0.5)[above]{\Huge Center of Rotation};
+         \draw[red, fill] (triangle_left) circle(0.13);
+
+         % PATH
+         \draw[green!80!gray, line width =3](1, -6) --(0,-3) -- (-0.5, -1) -- (-1,0) -- (-1.5,1) -- (-2,2) -- (-3, 8) -- (-6,13)  ;
+         \node[green!80!gray] at (0.6,-2.6)[right=-0.4]{\Huge path};
+
+         % target
+         \node[red] at (-4.8,11)[above right=0.5 and -0.1]{\Huge Target Point};
+         \draw[red, fill] (-4.8,11) circle(0.13);
+
+         % magenta triangle
+         \draw[magenta, line width=3] (0,0) -- (triangle_left) -- (-4.8,11) -- (0,0);
+
+         % angle \gamma_1
+         \draw[color=magenta, line width=3] ({\ax+5},0) arc (0:47:5);
+         \draw (-11.2,1.5) node[magenta] {\Huge $\gamma_1$};
+
+         % gamma_2
+         \draw[color=magenta, line width=3] (-3.6, 8.2) arc (290:226:3.05);
+         \draw (-5, 9.2) node[magenta] {\Huge $\gamma_2$};
+
+         % gamma bottom
+         \draw[color=magenta, line width=3] (-4.5,0) arc (180:111:4.3);
+         \draw (-2.6,1.7) node[magenta] {\Huge $\gamma_3$};
+
+         % \alpha
+         \draw[color=magenta, line width=3] (0,8) arc (90:113.2:8);
+         \draw (-1.9, 8.6) node[magenta] {\Huge $\alpha$};
+
+      \end{tikzpicture}
+   \end{figure}
+
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/pure_pursuit/animation.gif
 
 The red line is a target course, the green cross means the target point