1.将结构体中的struct kinematics中的wheel_radius修改为circumference，这种修改更为贴近作者原意。 #38
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2.kinematics_get_rpm函数中动态申请内存后并没有释放,会造成内存消耗。作为存储转换后的rpm值只需要申请一次后可重复使用，故移动到了kinematics_create函数中。 2.kinematics_get_rpm和kinematics_get_velocity函数中circumference替换wheel_radius即可修正计算错误的问题。 3.api.md文档中wheel_radius的值实际作为半径计算的。
sogwms
reviewed
Dec 4, 2019
| new_kinematics->length_x = length_x; | ||
| new_kinematics->length_y = length_y; | ||
| new_kinematics->wheel_radius = wheel_radius; | ||
| new_kinematics->circumference = wheel_radius * 2.0f * PI; |
| void kinematics_get_rpm(struct kinematics kin, struct velocity target_vel, rt_int16_t *rpm); | ||
| void kinematics_get_velocity(struct kinematics kin, struct rpm current_rpm, struct velocity *velocity); | ||
| rt_int16_t* kinematics_get_rpm(struct kinematics kin, struct velocity target_vel); | ||
| struct velocity kinematics_get_velocity(struct kinematics kin, struct rpm current_rpm); |
Collaborator
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关于这块 函数的输出 是以返回值的形式（也应该返回结构体）还是指针参数 我是倾向于后者的
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| #define PI 3.1415926f | ||
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| static rt_int16_t* res_rpm; |
Collaborator
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这个全局指针不合适， 真要采取函数返回值的形式的话， 仿照之前的kinematics_get_velocity 返回结构体就好了
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你说这个全局指针不合适，我没太明白，可以说的详细点吗？
Collaborator
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建议分开提交， 你的标题和提交的内容不太一致啊， circumference确实是bug修复 |
Contributor
Author
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好的，晚点重新提交 |
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2.kinematics_get_rpm函数中动态申请内存后并没有释放,会造成内存消耗。作为存储转换后的rpm值只需要申请一次后可重复使用，故移动到了kinematics_create函数中。
2.kinematics_get_rpm和kinematics_get_velocity函数中circumference替换wheel_radius即可修正计算错误的问题。
3.api.md文档中wheel_radius的值实际作为半径计算的。