- \n
- Link \u63cf\u8ff0"\u6211\u957f\u4ec0\u4e48\u6837"：STL \u8def\u5f84\u3001\u51e0\u4f55\u504f\u79fb\u3001\u7f29\u653e\u3001\u8d28\u91cf\u53c2\u6570<\/li>\n<\/ul>\n
\u624b\u52a8\u6446\u4f4d\u59ff = \u4e00\u6761 Fixed Joint<\/h4>\n
\u8fd9\u91cc\u6709\u4e2a\u7cbe\u5999\u7684\u8bbe\u8ba1\u51b3\u7b56：<\/p>\n
```cpp
\nstruct Joint {
\n JointType type = JointType::Fixed; \/\/ \u2190 \u624b\u52a8\u6446\u4f4d\u59ff = Fixed
\n Transform origin = Transform::Identity(); \/\/ \u2190 \u6446\u5230\u54ea\u5c31\u5728 origin \u91cc
\n Vec3 axis = Vec3::UnitZ(); \/\/ Fixed \u4e0d\u7528\u8f6c\u8f74
\n \/\/ …
\n};
\n```<\/p>\n\u624b\u52a8\u62d6\u52a8\/\u65cb\u8f6c\u4e00\u4e2a\u96f6\u4ef6，\u4e0d\u662f\u4fee\u6539\u4ec0\u4e48"pose \u5b57\u6bb5"，\u800c\u662f\u5b58\u4e00\u6761 Fixed Joint\u3002<\/p>\n
\u4e3a\u4ec0\u4e48\u8fd9\u6837\u8bbe\u8ba1？\u56e0\u4e3a\u8bbe\u8ba1\u6a21\u5f0f\u548c\u4eff\u771f\u6a21\u5f0f\u5fc5\u987b\u5171\u7528\u540c\u4e00\u68f5\u6811\u3002\u5982\u679c\u6446\u4f4d\u59ff\u7528\u4e00\u4e2a pose \u5b57\u6bb5\u3001\u8fd0\u52a8\u5b66\u7528\u53e6\u4e00\u4e2a joint \u5b57\u6bb5，\u4e24\u8fb9\u8fdf\u65e9\u6253\u67b6\u3002\u7edf\u4e00\u6210 Joint，\u4e00\u5207\u8bed\u4e49\u5f52\u4e00：<\/p>\n
\n\n
\n \n \u64cd\u4f5c<\/p>\n<\/td>\n
\n \u672c\u8d28<\/p>\n<\/td>\n<\/tr>\n
\n \n \u624b\u52a8\u62d6\u96f6\u4ef6<\/p>\n<\/td>\n
\n \u5199 Fixed Joint \u7684 origin<\/p>\n<\/td>\n<\/tr>\n
\n \n \u63d2\u5165\u65cb\u8f6c\u8f74<\/p>\n<\/td>\n
\n Fixed \u2192 Revolute，\u5199 axis<\/p>\n<\/td>\n<\/tr>\n
\n \n \u8f6c\u5173\u8282\u89d2<\/p>\n<\/td>\n
\n \u5199 JointState.q<\/p>\n<\/td>\n<\/tr>\n
\n \n \u6362\u7236\u8282\u70b9<\/p>\n<\/td>\n
\n \u6539 parent + \u91cd\u7b97 origin<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u4e09\u3001\u6811\u7684\u64cd\u4f5c：\u589e\u5220\u6539\u67e5，\u6bcf\u4e2a\u90fd\u6709\u5751<\/h3>\n
3.1 \u65b0\u589e\u8282\u70b9<\/h4>\n
```cpp
\nint Tree::addNode(const Joint& joint, const Link& link, int parent_id) {
\n TreeNode n;
\n n.id = static_cast<int>(nodes_.size()); \/\/ id = \u6570\u7ec4\u4e0b\u6807
\n n.parent = parent_id;
\n n.joint = joint;
\n n.link = link;
\n nodes_.push_back(n);
\n states_.push_back(JointState{});
\n return n.id;
\n}
\n```<\/p>\nid \u5c31\u662f\u6570\u7ec4\u4e0b\u6807\u2014\u2014\u7b80\u5355\u7c97\u66b4，O(1) \u8bbf\u95ee\u3002<\/p>\n<\/p>\n
3.2 \u5220\u9664\u8282\u70b9\u2014\u2014"\u5893\u7891"\u7b56\u7565<\/h4>\n
```cpp
\nbool Tree::removeNode(int id) {
\n for (const auto& n : nodes_)
\n if (n.parent == id) return false; \/\/ \u8fd8\u6709\u5b50\u8282\u70b9？\u4e0d\u884c！
\n nodes_[id].parent = -2; \/\/ \u5893\u7891：id \u4fdd\u6301\u7a33\u5b9a
\n return true;
\n}
\n```<\/p>\n\u4e3a\u4ec0\u4e48\u4e0d\u7528 vector::erase？\u56e0\u4e3aid \u4f1a\u53d8\u3002\u5982\u679c\u5220\u4e86 id=3，\u540e\u9762\u6240\u6709 id \u90fd\u5f80\u524d\u632a\u4e00\u4f4d，\u90a3\u4e48\u4e4b\u524d\u5b58\u5728 JSON \u91cc\u7684 parent=7 \u5c31\u6307\u9519\u4eba\u4e86\u3002<\/p>\n
\u6240\u4ee5\u7528 -2 \u6807\u8bb0"\u5df2\u5220\u9664"，id \u6c38\u8fdc\u4e0d\u56de\u6536\u3002aliveNodes() \u904d\u5386\u65f6\u81ea\u52a8\u8df3\u8fc7\u5893\u7891\u3002<\/p>\n
\u8e29\u5751\u8bb0\u5f55：\u4e00\u5f00\u59cb\u6211\u7528 tree_.size()+1 \u7ed9\u65b0\u8282\u70b9\u547d\u540d，\u5220\u9664\u540e size \u4e0d\u51cf\u5c0f，<\/p>\n
\u5047\u8bbe\u6211\u65b0\u589e\u4e86\u4e00\u4e2a\u8282\u70b9，\u4f46\u662f\u5220\u6389\u4e86，\u518d\u65b0\u589e\u4e00\u4e2a\u8282\u70b9，\u7f16\u53f7\u5c31\u4ece 53 \u8df3\u5230 54\u300155\u2026\u2026\u660e\u660e\u8282\u70b9\u4e3a\u7a7a，\u4f46\u662f\u7f16\u53f7\u88ab\u5360\u7528\u3002\u540e\u6765\u6539\u7528 aliveNodes().size()+1 + \u53bb\u91cd，\u624d\u8fde\u7eed\u4e86\u3002<\/p>\n
<\/h4>\n
3.3 \u6362\u7236\u8282\u70b9\u2014\u2014\u9632\u73af\u662f\u521a\u9700<\/h4>\n
```cpp
\nbool Tree::setParent(int id, int parent_id) {
\n if (id == parent_id) return false;
\n \/\/ \u9632\u73af：parent \u7684\u7956\u5148\u94fe\u91cc\u4e0d\u80fd\u51fa\u73b0\u81ea\u5df1
\n for (int p = parent_id; p >= 0; ) {
\n if (p == id) return false;
\n const TreeNode* np = node(p);
\n if (!np || np->parent == -2) break;
\n p = np->parent;
\n }
\n nodes_[id].parent = parent_id;
\n return true;
\n}
\n```<\/p>\n\u5982\u679c\u5141\u8bb8\u73af，FK \u9012\u63a8\u4f1a\u6b7b\u5faa\u73af\u3002\u9632\u73af\u68c0\u67e5\u662f\u6811\u64cd\u4f5c\u7684\u5e95\u7ebf\u3002<\/p>\n
\n\u56db\u3001\u6b63\u5411\u8fd0\u52a8\u5b66：\u94fe\u5f0f\u7d2f\u4e58<\/h3>\n
FK \u516c\u5f0f（URDF \u8bed\u4e49，\u673a\u5668\u4eba\u5b66\u6807\u51c6）：<\/p>\n
```
\nT_link = T_parent \u00b7 joint.origin \u00b7 Rot(axis, q)
\n```<\/p>\n\u4e09\u4e2a\u56e0\u5b50\u7684\u542b\u4e49：<\/p>\n
- \n
- T_parent：\u7238\u5728\u54ea<\/li>\n<\/ul>\n
- \n
- joint.origin：\u6211\u51fa\u751f\u65f6\u76f8\u5bf9\u7238\u7684\u504f\u79fb<\/li>\n<\/ul>\n
- \n
- Rot(axis, q)：\u6211\u7ed5\u81ea\u5df1\u7684\u8f74\u8f6c\u4e86\u591a\u5c11\u5ea6<\/li>\n<\/ul>\n
\u4ee3\u7801\u5b9e\u73b0：<\/p>\n
```cpp
\nTransform linkPose(const Tree& tree, int node_id) {
\n \/\/ \u4ece\u81ea\u5df1\u4e00\u8def\u722c\u5230\u6839
\n const std::vector<int> chain = tree.chainToRoot(node_id);<\/p>\nTransform T = Transform::Identity();
\n \/\/ \u4ece\u6839\u4fa7\u5f00\u59cb\u7d2f\u4e58
\n for (auto it = chain.rbegin(); it != chain.rend(); ++it) {
\n const TreeNode* n = tree.node(*it);
\n if (!n || n->parent == -2) break;
\n T = T * (n->joint.origin * jointMotion(*n, nodeQ(tree, n->id)));
\n }
\n return T;
\n}
\n```<\/p>\n\u5176\u4e2d"\u7ed5\u8f74\u8f6c"\u5c31\u662f Eigen \u7684 AngleAxisd：<\/p>\n
```cpp
\nTransform jointMotion(const TreeNode& n, double q) {
\n if (n.joint.type != JointType::Revolute)
\n return Transform::Identity(); \/\/ Fixed \u4e0d\u8f6c
\n Transform R = Transform::Identity();
\n R.linear() = Eigen::AngleAxisd(q, n.joint.axis).toRotationMatrix();
\n return R;
\n}<\/p>\n\u7ea2\u7ebf\u63d0\u9192：\u9650\u4f4d（limit）\u4e0d\u5728 FK \u91cc\u622a\u65ad\u3002FK \u53ea\u7ba1\u5fe0\u5b9e\u8ba1\u7b97\u77e9\u9635，q \u7684\u5408\u6cd5\u6027\u7531\u4e0a\u5c42（UI \u8f93\u5165\u3001\u79ef\u5206\u5668）\u4fdd\u8bc1\u3002\u8fd9\u4fdd\u6301\u4e86\u51fd\u6570\u7684\u5355\u4e00\u804c\u8d23\u3002<\/p>\n
\u9a8c\u8bc1 FK：\u4e0d\u8981\u9760\u8089\u773c<\/h4>\n
```cpp
\n\/\/ _fk_test.cpp \u2014\u2014 \u7eaf\u6570\u503c\u9a8c\u8bc1
\n\/\/ \u5efa\u4e00\u6761 3 \u8282\u70b9\u94fe，\u8bbe q=90\u00b0，\u68c0\u67e5\u672b\u7aef\u4f4d\u59ff
\nauto poses = hand_core::forwardKinematics(tree);
\ndouble diff = (poses.back().matrix() – expected.matrix()).cwiseAbs().maxCoeff();
\nstd::printf("max diff = %e\\\\n", diff); \/\/ \u671f\u671b 1e-15 \u91cf\u7ea7
\n```<\/p>\n\u4e00\u884c printf，\u6bd4\u5f00\u7a97\u53e3\u622a\u56fe\u653e\u5927\u770b\u5feb 1000 \u500d\u3002<\/p>\n
\n\u4e94\u3001\u63d2\u8f74：\u8ba9\u9759\u6001\u96f6\u4ef6\u53d8\u6210\u6d3b\u52a8\u5173\u8282<\/h3>\n
\u8fd9\u662f\u6574\u4e2a\u9879\u76ee\u6700"\u9b54\u672f"\u7684\u4e00\u6b65\u3002\u5728 3D \u91cc\u70b9\u51fb\u4e00\u4e2a\u5706\u67f1\u9762（\u9500\u8f74\/\u5b54\u58c1），\u7cfb\u7edf\u81ea\u52a8：<\/p>\n
- \u8bc6\u522b\u8f74\u65b9\u5411：\u5706\u67f1\u9762\u4e0a\u6240\u6709\u9762\u6cd5\u7ebf\u90fd\u5782\u76f4\u4e8e\u67f1\u8f74 \u2192 \u6cd5\u7ebf\u534f\u65b9\u5dee\u77e9\u9635\u7684\u6700\u5c0f\u7279\u5f81\u5411\u91cf = \u8f74\u5411<\/li>\n
- \u5b9a\u4f4d\u8f74\u5fc3：\u4ee3\u6570\u5706\u62df\u5408（Kasa）\u6c42\u67f1\u5fc3<\/li>\n
- \u5199\u56de URDF \u7ea6\u5b9a：joint.origin = \u7236\u7cfb\u5230\u8f74\u70b9\u7684\u53d8\u6362，axis = \u8f74\u65b9\u5411（joint frame）<\/li>\n
\u5173\u952e\u7684\u5199\u56de\u516c\u5f0f：<\/p>\n
```cpp
\n\/\/ \u63d2\u8f74\u524d：\u96f6\u4ef6\u663e\u793a\u4f4d\u59ff D = linkPose(node) \u00b7 visual_origin
\n\/\/ \u63d2\u8f74\u540e：joint.origin = Tp^-1 \u00b7 [Rf|point]，axis = Rf^T \u00b7 worldDir
\n\/\/ visual_origin = W^-1 \u00b7 D（\u5438\u6536\u504f\u79fb，\u663e\u793a\u4e0d\u53d8）
\nconst Transform W = …; \/\/ [Rf|point]
\nn->joint.type = JointType::Revolute;
\nn->joint.origin = Tp.inverse() * W;
\nn->joint.axis = Rf.transpose() * dir;
\nn->link.visual_origin = W.inverse() * D;
\n```<\/p>\n\u5b50\u6811\u951a\u5b9a\u2014\u2014\u4e00\u4e2a\u9690\u85cf\u7684\u5751：<\/p>\n
\u63d2\u8f74\u65f6 link \u5750\u6807\u7cfb\u4f1a\u642c\u5230\u8f74\u70b9\u3002\u5982\u679c\u8fd9\u4e2a\u8282\u70b9\u4e0b\u9762\u8fd8\u6302\u7740\u5b50\u8282\u70b9（\u6bd4\u5982\u6307\u5c16\u6302\u5728\u6307\u8282\u4e0b），\u5b50\u8282\u70b9\u7684 origin \u5fc5\u987b\u540c\u6b65\u6362\u7b97：<\/p>\n
```cpp
\nconst Transform Lnew = linkPose(tree, nodeId); \/\/ \u65b0 link \u4f4d\u59ff
\nconst Transform Lfix = Lnew.inverse() * Lold; \/\/ \u4fee\u590d\u56e0\u5b50
\nfor (int cid : tree.children(nodeId)) {
\n cn->joint.origin = Lfix * cn->joint.origin; \/\/ \u5b50\u4ef6\u8ddf\u7740\u642c
\n}
\n```<\/p>\n\u5426\u5219\u2014\u2014"\u63d2\u8f74\u540e\u5b50\u4ef6\u96c6\u4f53\u98de\u8d70\u4e86"\u3002\u6211\u7b2c\u4e00\u6b21\u6ca1\u505a\u8fd9\u6b65，\u67e5\u4e86\u4e24\u5c0f\u65f6\u624d\u53d1\u73b0\u662f\u5b50\u8282\u70b9 origin \u6ca1\u8ddf\u7740\u6362\u7b97\u3002<\/p>\n
\n\u516d\u3001Mimic \u8054\u52a8：\u4e00\u4e2a\u6ed1\u6761\u9a71\u52a8\u4e24\u4e2a\u5173\u8282<\/h3>\n
T \u5f62\u8054\u8f74\u5668\u662f\u4e00\u4e2a\u7ecf\u5178\u96be\u9898：\u4e24\u4e2a\u8f93\u5165\u4ef6（inner\/outer）\u90fd\u56fa\u5b9a\u5728\u652f\u67b6\u4e0a，\u4e92\u4e0d\u5e72\u6270，\u4f46\u5171\u540c\u7ea6\u675f\u4e00\u4e2a\u8f93\u51fa\u4ef6\u3002\u4e32\u8054\u6811\u8868\u8fbe\u4e0d\u4e86\u5e76\u8054\u7ea6\u675f\u3002<\/p>\n
\u89e3\u6cd5\u662f mimic \u8054\u52a8（URDF <mimic> \u6807\u51c6\u8bed\u4e49）：<\/p>\n
```cpp
\nstruct JointMimic {
\n int joint_id = -1; \/\/ \u8ddf\u968f\u8c01
\n double multiplier = 1.0; \/\/ q_\u4ece = m \u00b7 q_\u4e3b + c
\n double offset = 0.0;
\n};
\n```<\/p>\n\u642d\u6811：<\/p>\n
```
\nbase（\u652f\u67b6）
\n\u251c\u2500 outer_1 [revolute] \u2190 \u9a71\u52a8\u7aef：\u53ea\u4fef\u4ef0
\n\u2514\u2500 inner_1 [revolute] \u2190 \u53ea\u5de6\u53f3
\n \u2514\u2500 pitch_link [revolute] \u2190 \u865a\u62df\u8282\u70b9（\u65e0\u51e0\u4f55），mimic \u8ddf\u968f outer_1
\n \u2514\u2500 \u8054\u8f74\u5668 [fixed] \u2192 \u624b
\n```<\/p>\n\u62d6 outer \u7684\u6ed1\u6761 \u2192 pitch_link \u81ea\u52a8\u540c\u6b65 \u2192 \u624b\u4fef\u4ef0，inner \u4e0d\u53d7\u5f71\u54cd\u3002\u5b8c\u7f8e\u3002<\/p>\n
\u5b9e\u73b0\u8981\u70b9：<\/p>\n
```cpp
\nbool Tree::applyQWithMimic(int id, double q) {
\n int src = id; double srcQ = q;
\n if (mimic.valid()) {
\n src = mimic.joint_id;
\n srcQ = (q – mimic.offset) \/ mimic.multiplier; \/\/ \u53cd\u63a8\u9a71\u52a8\u7aef
\n }
\n states_[src].q = srcQ; \/\/ \u5199\u9a71\u52a8\u7aef
\n \/\/ \u5e7f\u64ad\u6240\u6709\u4ece\u52a8\u8282\u70b9
\n for (auto& n : nodes_) {
\n if (n.joint.mimic.joint_id == src)
\n states_[n.id].q = n.joint.mimic.multiplier * srcQ + n.joint.mimic.offset;
\n }
\n}
\n```<\/p>\n\u4e00\u7ea7\u8054\u52a8\u9632\u73af：\u4ece\u52a8\u8282\u70b9\u7684\u8ddf\u968f\u76ee\u6807\u81ea\u8eab\u4e0d\u5f97\u518d\u6709 mimic，\u5426\u5219 A\u2192B\u2192A \u6b7b\u5faa\u73af\u3002<\/p>\n
\u4f46\u662f\u6700\u540e\u5728\u5efa\u6a21\u91cc\u9762\u6539\u5584\u4e86\u8fd9\u4e2a，\u7528\u4e86\u4e00\u4e2a\u7b28\u529e\u6cd5\u89e3\u51b3\u4e86，\u8fd9\u4e2a\u90e8\u5206\u7684\u4ee3\u7801\u5c31\u6ce8\u91ca\u6389，\u6ca1\u6709\u542f\u7528\u4e86\u54c8\u54c8\u54c8\u54c8\u54c8<\/p>\n
\n\u4e03\u3001\u6570\u503c\u6d4b\u8bd5：\u5148\u628a\u6838\u5fc3\u8dd1\u7eff<\/h3>\n
\u6bcf\u6b21\u6539\u5b8c\u8fd0\u52a8\u5b66\u76f8\u5173\u4ee3\u7801，\u7b2c\u4e00\u4ef6\u4e8b\u662f\u8dd1\u6d4b\u8bd5，\u7b2c\u4e00\u7bc7\u91cc\u9762，\u6bcf\u4e2a\u90e8\u5206\u6211\u54e6\u4eec\u90fd\u662f\u72ec\u7acb\u62c6\u5f00\u7684，\u65b9\u4fbf\u8c03\u8bd5，\u8fd9\u5c31\u4e3a\u6211\u4eec\u6253\u597d\u4e86\u6d4b\u8bd5\u8c03\u8bd5\u7684\u57fa\u7840：<\/p>\n
```powershell
\ncd hand_sim\/build
\n.\\\\_fk_test.exe # \u6b63\u5411\u8fd0\u52a8\u5b66 \u2713
\n.\\\\_axis_subtree_test.exe # \u63d2\u8f74\u5b50\u6811\u951a\u5b9a \u2713
\n.\\\\_mimic_test.exe # \u5173\u8282\u8054\u52a8 \u2713
\n.\\\\_hinge_test.exe # \u94f0\u94fe\u9a8c\u8bc1 \u2713
\n```<\/p>\n\u6d4b\u8bd5\u5168\u7eff\u624d\u7ee7\u7eed\u3002\u7ea2\u706f\u5c31\u505c\u3002<\/p>\n
\n<\/h3>\n
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<\/p><\/p>\n","protected":false},"excerpt":{"rendered":"\u4e00\u3001\u4ece\u4e00\u5806 STL \u5230\u4e00\u53ea\u624b\u4e0a\u4e00\u7bc7\u6211\u4eec\u642d\u597d\u4e86\u9aa8\u67b6\u3002\u73b0\u5728\u9762\u5bf9\u4e00\u4e2a\u5f88\u73b0\u5b9e\u7684\u95ee\u9898：\u684c\u9762\u4e0a\u8eba\u7740 \u4e00\u5806\u00a0STL \u96f6\u4ef6\u6587\u4ef6\u2014\u2014\u6307\u5c16\u3001\u6307\u8282\u3001\u638c\u9aa8\u3001\u8f74\u627f\u5ea7\u3001T \u5f62\u8054\u8f74\u5668\u2026\u2026\u5b83\u4eec\u5728\u5efa\u6a21\u8f6f\u4ef6\u91cc\u662f\u4e00\u4e2a\u88c5\u914d\u4f53，\u4f46\u5bfc\u51fa STL \u65f6\u5df2\u7ecf\\”\u6563\u67b6\\”\u4e86，\u5404\u81ea\u5e26\u7740\u81ea\u5df1\u7684\u5750\u6807\u7cfb\u3002\u600e\u4e48\u628a\u5b83\u4eec\u88c5\u56de\u4e00\u53ea\u4f1a\u52a8\u7684\u624b？\u7b54\u6848\u662f\u4e00\u68f5\u8fd0\u52a8\u5b66\u6811\u3002\u4e8c\u3001\u6811\u8282\u70b9：Joint Link \u4e00\u4e2a\u96f6\u4ef6\u7684\u5168\u90e8\u5148\u770b\u6570\u636e\u7ed3\u6784\u2014\u2014\u6574\u4e2a\u4eff\u771f\u5668\u7684\\”\u5baa\u6cd5\\”：cpp
\n\/\/ c<\/p>\n","protected":false},"author":2,"featured_media":123786,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[11820,2341,269,190,384,2728],"topic":[],"class_list":["post-123787","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-atomgit","tag-qt6-3","tag-269","tag-190","tag-384","tag-2728"],"yoast_head":"\n\u4ece\u96f6\u9020\u4e00\u4e2a\u8171\u7ef3\u9a71\u52a8\u7075\u5de7\u624b\u2014\u2014\u4eff\u771f\u5668\u7bc72\uff1a\u8fd0\u52a8\u5b66\u6811\u2014\u2014\u8ba9\u4e00\u53ea\u6563\u88c5\u7684\u624b\u201c\u6d3b\u201c\u8fc7\u6765 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/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.wsisp.com\/helps\/123787.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u4ece\u96f6\u9020\u4e00\u4e2a\u8171\u7ef3\u9a71\u52a8\u7075\u5de7\u624b\u2014\u2014\u4eff\u771f\u5668\u7bc72\uff1a\u8fd0\u52a8\u5b66\u6811\u2014\u2014\u8ba9\u4e00\u53ea\u6563\u88c5\u7684\u624b\u201c\u6d3b\u201c\u8fc7\u6765 - 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- Rot(axis, q)：\u6211\u7ed5\u81ea\u5df1\u7684\u8f74\u8f6c\u4e86\u591a\u5c11\u5ea6<\/li>\n<\/ul>\n
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- T_parent：\u7238\u5728\u54ea<\/li>\n<\/ul>\n