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你好——我已经审查过你的改动,一切看起来都很棒!
帮我变得更有用!请在每条评论上点 👍 或 👎,我会根据你的反馈改进后续评审。
Original comment in English
Hey - I've reviewed your changes and they look great!
Help me be more useful! Please click 👍 or 👎 on each comment and I'll use the feedback to improve your reviews.
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Pull request overview
此 PR 为 MapTrackerMove 增加“抵达最后目标点后对齐到最后一段路径方向”的能力,并在精细进近(fine approach)中引入基于角度变化的到达判据,以提升到达鲁棒性与相机朝向一致性。
Changes:
- 新增
no_ensure_final_orientation参数,用于控制是否跳过最终朝向校正,并在到达点逻辑中加入最终朝向对齐与中间点“预旋转”。 - 调整精细进近的到达判据:除距离/时间外,新增“按旋转猜测到达”的分支。
- 更新 MapTrackerMove 文档(中英),补充新参数与
map_name_match_rule的说明结构。
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 7 comments.
| File | Description |
|---|---|
| docs/zh_cn/developers/map-tracker.md | 增补 no_ensure_final_orientation 与重排/扩展 map_name_match_rule 文档说明 |
| docs/en_us/developers/map-tracker.md | 同步英文文档新增参数与 map_name_match_rule 的说明结构 |
| agent/go-service/pkg/control/adaptor_win.go | 调整 Windows 端相机旋转滑动时长,并修正 aggressive movement reset 后的内部状态 |
| agent/go-service/map-tracker/move.go | MapTrackerMove 增加最终朝向对齐/预旋转、精细进近角度到达判据、并重排参数校验逻辑 |
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急急急,合! |
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概要
此 PR 向 MapTrackerMove 节点添加了尊重最后路径朝向的功能,使得相机可以朝向最终路径方向。
此外,添加了精细进近模式下的角度抵达判据,使得精细进近对朝向更加鲁棒。
Summary by Sourcery
在
MapTrackerMove中尊重路径的最终方向,使摄像机在到达时朝向最后一段路径方向,并优化移动/朝向处理,以实现更健壮的导航。New Features:
Enhancements:
Documentation:
no_ensure_final_orientation新参数的说明,并澄清fine_approach和map_name_match_rule的行为。Original summary in English
Summary by Sourcery
Respect the final path direction in MapTrackerMove so the camera faces the last segment upon arrival and refine movement/orientation handling for more robust navigation.
New Features:
Enhancements:
Documentation: