CN115187693A - Track forming method, device, medium and equipment based on target discrete point coordinates - Google Patents

Track forming method, device, medium and equipment based on target discrete point coordinates Download PDF

Info

Publication number
CN115187693A
CN115187693A CN202210684341.XA CN202210684341A CN115187693A CN 115187693 A CN115187693 A CN 115187693A CN 202210684341 A CN202210684341 A CN 202210684341A CN 115187693 A CN115187693 A CN 115187693A
Authority
CN
China
Prior art keywords
curve
target
track
point
trajectory
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210684341.XA
Other languages
Chinese (zh)
Inventor
陈�峰
李庆杰
刘芊
高文龙
刘强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Electronic System Engineering
Original Assignee
Beijing Institute of Electronic System Engineering
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Electronic System Engineering filed Critical Beijing Institute of Electronic System Engineering
Priority to CN202210684341.XA priority Critical patent/CN115187693A/en
Publication of CN115187693A publication Critical patent/CN115187693A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/20—Drawing from basic elements, e.g. lines or circles
    • G06T11/203—Drawing of straight lines or curves

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

One embodiment of the invention discloses a track forming method, a device, a medium and equipment based on target discrete point coordinates, wherein the method comprises the following steps: acquiring a time sequence of target discrete space position coordinates; selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k‑1 And P k+2 (ii) a And generating a cubic curve by taking the starting point coordinate and the starting point slope which are obtained by calculation according to the control point as boundary conditions, and taking the cubic curve as a target track. The invention solves the problem that the maximum overload steering is required to be adopted for the circular arc section when a circular arc-tangent horizontal track forming method is used in the prior art, and a track which is more in line with the actual situation is generated.

Description

Track forming method, device, medium and equipment based on target discrete point coordinates
Technical Field
The invention relates to the technical field of computers. And more particularly, to a trajectory forming method, apparatus, medium, and device based on coordinates of target discrete points.
Background
The measurement of the spatial position of an object in the real world, for example an airborne object using radar, always results in a time series of discrete spatial position coordinates. When a computer display image is formed by coordinates, discrete spatial position coordinates need to be formed into a continuous target track.
When two-dimensional display of a computer image deals with a three-dimensional target spatial position, a top view is the most common display method. In top view, a horizontal trajectory forming method of target discrete point coordinates is required. There are two common methods for generating horizontal trajectories: using straight lines to connect the discrete point sequences in time sequence or establishing a maximum turning track. The two-point maximum turning track is formed by firstly turning the target at the starting point with maximum overload and directly flying to the terminal point according to a tangent line when the target turns to the pointing terminal point. The target track generated by the straight line connection method is not smooth, and the maximum turning track turns by using fixed maximum overload and the general target flight state are not consistent.
Disclosure of Invention
In view of this, a first embodiment of the present invention provides a trajectory forming method based on target discrete point coordinates, including:
acquiring a time sequence of target discrete space position coordinates;
selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 ；
And generating a cubic curve by taking the starting point coordinate and the starting point slope which are obtained by calculation according to the control point as boundary conditions, and taking the cubic curve as a target track.
In a specific embodiment, the boundary conditions are:
P(0)＝P k
P(1)＝P k+1
P'(0)＝(1-t)×(P k+1 -P k-1 )
P'(1)＝(1-t)×(P k+2 -P k )
wherein the parameter t controls the degree of tightness between the curve and the control point, and the curve is degraded into a Catmull-Rom curve or an Overhauser curve when t = 0.
In a particular embodiment, generating the cubic curve includes:
calculated according to the boundary condition
P(u)＝P k-1 (-su 3 +2su 2 -su)+P k [(2-s)u 3 +(s-3)u 2 +1]+P k+1 [(s-2)u 3 +(3-2s)u 2 +su]+P k+2 (su 3 -su 2 )
Wherein s = (1-t)/2, u takes a value from 0 to 1, and a matching curve is from P k To P k+1 。
In a specific embodiment, the method further comprises:
the method of any of claims 1-3, generating a target trajectory on a horizontal plane and a target trajectory on a vertical plane;
and superposing the target track on the horizontal plane and the target track on the vertical plane to be used as the track of the target moving in the space.
A second embodiment of the present invention provides a trajectory forming apparatus based on coordinates of target discrete points, including:
the acquisition module is used for acquiring a time sequence of the target discrete space position coordinates;
the selection module is used for selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 ；
And the track forming module is used for generating a cubic curve by taking the starting point coordinate and the starting point slope which are obtained by calculation according to the control point as boundary conditions, and the cubic curve is used as a target track.
In a specific embodiment, the track forming module includes a boundary condition calculating module, configured to calculate, according to the control point, a start point coordinate and a start point slope, and generate a boundary condition that:
P(0)＝P k
P(1)＝P k+1
P'(0)＝(1-t)×(P k+1 -P k-1 )
P'(1)＝(1-t)×(P k+2 -P k )
wherein the parameter t controls the degree of tightness between the curve and the control point, and the curve is degraded into a Catmull-Rom curve or an Overhauser curve when t = 0.
In a specific embodiment, the forming trajectory module further comprises a cubic curve generating module for generating a cubic curve
Calculated according to the boundary condition
P(u)＝P k-1 (-su 3 +2su 2 -su)+P k [(2-s)u 3 +(s-3)u 2 +1]+P k+1 [(s-2)u 3 +(3-2s)u 2 +su]+P k+2 (su 3 -su 2 )
Wherein s = (1-t)/2, u takes a value from 0 to 1, and a matching curve is from P k To P k+1 。
In a specific embodiment, the apparatus further comprises:
the horizontal track generation module is used for generating a target track on a horizontal plane by using the device;
the vertical track generation module is used for generating a target track on a vertical plane by using the device;
and the space motion track generation module is used for superposing the target track on the horizontal plane and the target track on the vertical plane to be used as the track of the target moving in the space.
A third embodiment of the invention provides a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the method according to any one of the first embodiments.
A fourth embodiment of the invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method according to any of the first embodiments.
The invention has the following beneficial effects:
the invention provides a track forming method, a device and a medium based on target discrete point coordinatesAnd the equipment acquires a time sequence of the coordinates of the target discrete space position and selects a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 And generating a cubic curve by taking the coordinates of the starting point and the slope of the starting point which are calculated according to the control points as boundary conditions, and taking the cubic curve as a target track to ensure that the overload continuously changes in the forming process of the whole track, thereby solving the problem that the maximum overload steering is required to be adopted for the arc section when an arc-tangent horizontal track forming method is used in the prior art, and generating the track which is more consistent with the actual situation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 illustrates a flow diagram of a trajectory formation method based on target discrete point coordinates according to one embodiment of the present invention;
FIG. 2 illustrates a schematic diagram of a generated target trajectory according to one embodiment of the present invention;
FIG. 3 shows a schematic diagram of a trajectory formation device based on target discrete point coordinates according to one embodiment of the present invention;
fig. 4 shows a schematic structural diagram of a computer device according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a trajectory forming method based on target discrete point coordinates, including:
acquiring a time sequence of target discrete space position coordinates;
in this embodiment, a monitor may be selected as a display device of a computer, and a time sequence of coordinates of a discrete spatial position of a target is obtained by the computer, so as to form a target trajectory in the following, so that an overload continuously changes in the forming process of the whole trajectory, thereby solving the problem that a circular arc segment is required to adopt the maximum overload steering when using a circular arc-tangent horizontal trajectory forming method in the prior art, and generating a trajectory more conforming to an actual situation.
Selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 ；
In this embodiment, P k 、P k+1 Is the end point where the curve is to be generated, control point P k-1 And P k+2 The method is used for calculating the slope of the end point of the curve segment, and the target track can be completely determined according to 4 continuous points of any two points and one point before and after the point.
And generating a cubic curve by taking the starting point coordinate and the starting point slope which are obtained by calculation according to the control point as boundary conditions, and taking the cubic curve as a target track.
In a specific embodiment, the boundary conditions are:
P(0)＝P k
P(1)＝P k+1
P'(0)＝(1-t)×(P k+1 -P k-1 )
P'(1)＝(1-t)×(P k+2 -P k )
wherein the parameter t controls the degree of tightness between the curve and the control point, and the curve is degraded into a Catmull-Rom curve or an Overhauser curve when t = 0.
In a particular embodiment, generating the cubic curve includes:
the boundary condition is calculated according to the above embodiment
P(u)＝P k-1 (-su 3 +2su 2 -su)+P k [(2-s)u 3 +(s-3)u 2 +1]+P k+1 [(s-2)u 3 +(3-2s)u 2 +su]+P k+2 (su 3 -su 2 )
Wherein s = (1-t)/2, u takes a value from 0 to 1, and the matching curve is from P k To P k+1 。
In this embodiment, the starting point coordinate and the starting point slope are calculated according to the control point, and a cubic curve as shown in fig. 2 is generated as a target trajectory by using the starting point coordinate and the starting point slope as boundary conditions, so that a time sequence of discrete spatial position coordinates is subjected to segmented interpolation by using the cubic curve, and overload is continuously changed in the whole trajectory forming process, thereby solving the problem that the circular arc section is required to adopt the maximum overload steering when an arc-tangent horizontal trajectory forming method is used in the prior art, and generating a trajectory more conforming to the actual situation.
In a specific embodiment, the method further comprises:
according to the method of the above embodiment, a target trajectory on a horizontal plane and a target trajectory on a vertical plane are generated;
and superposing the target track on the horizontal plane and the target track on the vertical plane to be used as the track of the target moving in the space.
In this embodiment, since the target moves in space as superimposed motion in the horizontal plane and the vertical plane, according to the method described in the above embodiment, the target trajectory on the horizontal plane and the target trajectory on the vertical plane are generated, and the target trajectory on the horizontal plane and the target trajectory on the vertical plane are superimposed to be used as the trajectory of the target moving in space, so as to solve the problem that the circular arc section must adopt the maximum overload steering when the circular arc-tangent horizontal trajectory forming method is used in the prior art, and generate a space motion trajectory more suitable for the actual situation.
As shown in fig. 3, another embodiment of the present invention further provides a trajectory forming device based on coordinates of target discrete points, including:
the acquisition module is used for acquiring a time sequence of the target discrete space position coordinates;
the selection module is used for selecting control points Pk and Pk +1 which need to form a curve and one point Pk-1 and one point Pk +2 before and after the two points in the time sequence;
and the track forming module is used for generating a cubic curve by taking the starting point coordinate and the starting point slope which are obtained by calculation according to the control point as boundary conditions, and the cubic curve is used as a target track.
In a specific embodiment, the trajectory forming module includes a boundary condition calculating module, configured to calculate, according to the control point, a start point coordinate and a start point slope, and generate a boundary condition that:
P(0)＝P k
P(1)＝P k+1
P'(0)＝(1-t)×(P k+1 -P k-1 )
P'(1)＝(1-t)×(P k+2 -P k )
wherein the parameter t controls the degree of tightness between the curve and the control point, and the curve is degraded into a Catmull-Rom curve or an Overhauser curve when t = 0.
In a specific embodiment, the form trajectory module further comprises a generate cubic curve module for
Calculated according to the boundary conditions
P(u)＝P k-1 (-su 3 +2su 2 -su)+P k [(2-s)u 3 +(s-3)u 2 +1]+P k+1 [(s-2)u 3 +(3-2s)u 2 +su]+P k+2 (su 3 -su 2 )
Wherein s = (1-t)/2, u takes a value from 0 to 1, and a matching curve is from P k To P k+1 。
In this embodiment, the time sequence of the coordinates of the discrete spatial position of the target is obtained by the obtaining module, and the selecting module selects the control point P to be formed into the curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 The track forming module generates a cubic curve as a target track by taking the starting point coordinate and the starting point slope calculated according to the control point as boundary conditions, so that the shape of the whole track is formedThe overload is continuously changed in the forming process, so that the problem that the maximum overload steering is required to be adopted for the arc section when an arc-tangent horizontal track forming method is used in the prior art is solved, and a track which is more in line with the actual condition is generated.
In a specific embodiment, the apparatus further comprises:
the horizontal track generation module is used for generating a target track on a horizontal plane by using the device in the embodiment;
the vertical track generation module is used for generating a target track on a vertical plane by using the device in the embodiment;
and the space motion track generation module is used for superposing the target track on the horizontal plane and the target track on the vertical plane to be used as the track of the target in space motion.
In this embodiment, since the target moves in space as superimposed motion in a horizontal plane and a vertical plane, according to the apparatus described in the above embodiment, the horizontal trajectory generation module and the vertical trajectory generation module are used to generate a target trajectory on the horizontal plane and a target trajectory on the vertical plane, and the spatial trajectory generation module is used to superimpose the target trajectory on the horizontal plane and the target trajectory on the vertical plane as the trajectory of the target moving in space, so as to solve the problem that the arc segment is required to adopt the maximum overload steering when the arc-tangent horizontal trajectory formation method is used in the prior art, and generate a spatial trajectory that better meets the actual situation.
Another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements: acquiring a time sequence of target discrete space position coordinates; selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 (ii) a And generating a cubic curve by taking the coordinates of the starting point and the slope of the starting point which are obtained by calculation according to the control point as boundary conditions, and taking the cubic curve as a target track.
In practice, the computer readable storage medium may take any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
As shown in fig. 4, another embodiment of the present invention provides a schematic structural diagram of a computer device. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown in FIG. 4, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in FIG. 4, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement an access method of a mobile terminal product provided by an embodiment of the present invention.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.

Claims (10)

1. A track forming method based on target discrete point coordinates is characterized by comprising the following steps:
acquiring a time sequence of target discrete space position coordinates;
selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 ；
And generating a cubic curve by taking the coordinates of the starting point and the slope of the starting point which are obtained by calculation according to the control point as boundary conditions, and taking the cubic curve as a target track.
2. The method of claim 1, wherein the boundary condition is:
P(0)＝P k
P(1)＝P k+1
P'(0)＝(1-t)×(P k+1 -P k-1 )
P'(1)＝(1-t)×(P k+2 -P k )
wherein the parameter t controls the degree of tightness between the curve and the control point, and the curve is degraded into a Catmull-Rom curve or an Overhauser curve when t = 0.
3. The method of claim 2, wherein generating the cubic curve comprises:
calculated according to the boundary condition
P(u)＝P k-1 (-su 3 +2su 2 -su)+P k [(2-s)u 3 +(s-3)u 2 +1]+P k+1 [(s-2)u 3 +(3-2s)u 2 +su]+P k+2 (su 3 -su 2 )
Wherein s = (1-t)/2, u takes a value from 0 to 1, and a matching curve is from P k To P k+1 。
4. The method of claim 1, further comprising:
the method of any of claims 1-3, generating a target trajectory on a horizontal plane and a target trajectory on a vertical plane;
and superposing the target track on the horizontal plane and the target track on the vertical plane to be used as the track of the target moving in the space.
5. A trajectory forming device based on coordinates of a target discrete point, comprising:
the acquisition module is used for acquiring a time sequence of the target discrete space position coordinates;
the selection module is used for selecting a control point P needing to form a curve in the time sequence k 、P k+1 And one point P before and after the two points k-1 And P k+2 ；
And the track forming module is used for generating a cubic curve by taking the starting point coordinate and the starting point slope which are obtained by calculation according to the control point as boundary conditions, and the cubic curve is used as a target track.
6. The apparatus of claim 5, wherein the track forming module comprises a boundary condition calculating module, configured to calculate a starting point coordinate and a starting point slope according to the control point, and generate boundary conditions as:
P(0)＝P k
P(1)＝P k+1
P'(0)＝(1-t)×(P k+1 -P k-1 )
P'(1)＝(1-t)×(P k+2 -P k )
wherein the parameter t controls the degree of tightness between the curve and the control point, and the curve is degraded into a Catmull-Rom curve or an Overhauser curve when t = 0.
7. The apparatus of claim 6, wherein the form trajectory module further comprises a generate cubic curve module to generate
Calculated according to the boundary condition
P(u)＝P k-1 (-su 3 +2su 2 -su)+P k [(2-s)u 3 +(s-3)u 2 +1]+P k+1 [(s-2)u 3 +(3-2s)u 2 +su]+P k+2 (su 3 -su 2 )
Wherein s = (1-t)/2, u takes a value from 0 to 1, and a matching curve is from P k To P k+1 。
8. The apparatus of claim 5, further comprising:
a horizontal trajectory generation module for generating a target trajectory on a horizontal plane using the apparatus of any one of claims 5-7;
a vertical trajectory generation module for generating a target trajectory on a vertical plane using the apparatus of any one of claims 5-7;
and the space motion track generation module is used for superposing the target track on the horizontal plane and the target track on the vertical plane to be used as the track of the target moving in the space.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-4 when executing the program.
CN202210684341.XA 2022-06-17 2022-06-17 Track forming method, device, medium and equipment based on target discrete point coordinates Pending CN115187693A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210684341.XA CN115187693A (en) 2022-06-17 2022-06-17 Track forming method, device, medium and equipment based on target discrete point coordinates

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210684341.XA CN115187693A (en) 2022-06-17 2022-06-17 Track forming method, device, medium and equipment based on target discrete point coordinates

Publications (1)

Publication Number Publication Date
CN115187693A true CN115187693A (en) 2022-10-14

Family

ID=83513217

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210684341.XA Pending CN115187693A (en) 2022-06-17 2022-06-17 Track forming method, device, medium and equipment based on target discrete point coordinates

Country Status (1)

Country Link
CN (1) CN115187693A (en)

Similar Documents

Publication Publication Date Title
CN110850807B (en) Singular point avoiding method, device, equipment and medium
CN110969687B (en) Collision detection method, device, equipment and medium
CN109509236B (en) Vehicle bounding box generation method and device in unmanned scene and storage medium
CN114387400A (en) Three-dimensional scene display method, display device, electronic equipment and server
CN111481923B (en) Rocker display method and device, computer storage medium and electronic equipment
CN115861498A (en) Redirection method and device for motion capture
CN115268447A (en) Robot pose control method and device based on Bezier curve and electronic equipment
CN112925593A (en) Method and device for scaling and rotating target layer
CN111080755A (en) Motion calculation method and device, storage medium and electronic equipment
CN110096134B (en) VR handle ray jitter correction method, device, terminal and medium
CN113009908B (en) Motion control method, device and equipment of unmanned equipment and storage medium
CN109739648B (en) Animation playing control method, device, equipment and storage medium
CN115187693A (en) Track forming method, device, medium and equipment based on target discrete point coordinates
CN115756231A (en) Special effect processing method, device, equipment, computer readable storage medium and product
CN112169337B (en) Control method and device for serpentine virtual object, storage medium and electronic equipment
CN112393731B (en) Method, device, electronic equipment and storage medium for tracking path
CN113009884B (en) Method, device, equipment and storage medium for controlling operation of unmanned equipment
CN112445242B (en) Method, device, equipment and storage medium for tracking route
CN113093715A (en) Motion control method, device, equipment and storage medium for unmanned equipment
CN112243082B (en) Tracking shooting method and device, electronic equipment and storage medium
CN110992494B (en) Role model dissipation method, device, equipment and storage medium
US20120314020A1 (en) Move-it: monitoring, operating, visualizing, editing integration toolkit for reconfigurable physical computing
CN112947520B (en) Attitude control method and device for improving stability of low-speed aircraft under stall
CN111784810B (en) Virtual map display method and device, storage medium and electronic equipment
CN113091755B (en) Method, device, equipment and storage medium for tracking motion trail

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination