sqrtrc_para-dist_axis_wheelrc_para-dist_axis_wheel - rc_para-dist_wheel_wheel2rc_para-dist_wheel_wheel2+sqrt R2+rc_para-wheel_radiusR2+rc_para-wheel_radius-rc_para-dist_wheel_wheel2rc_para-dist_wheel_

将等式两边展开并移项，得到：

RR + 2Rrc_para->wheel_radius + rc_para->wheel_radiusrc_para->wheel_radius = rc_para->dist_axis1_axis2*rc_para->dist_axis1_axis2/4

• rc_para->dist_axis_wheel*rc_para->dist_axis_wheel
• rc_para->dist_wheel_wheel*rc_para->dist_wheel_wheel/4

• 2rc_para->dist_axis1_axis2rc_para->dist_axis_wheel/2
• rc_para->dist_axis_wheel*rc_para->dist_axis_wheel/4

化简后得到：

RR + 2Rrc_para->wheel_radius + rc_para->wheel_radiusrc_para->wheel_radius = rc_para->dist_axis1_axis2*rc_para->dist_axis1_axis2/4

• rc_para->dist_axis_wheel*rc_para->dist_axis_wheel/4
• rc_para->dist_wheel_wheel*rc_para->dist_wheel_wheel/4

• rc_para->dist_axis1_axis2*rc_para->dist_axis_wheel
• rc_para->dist_axis_wheel*rc_para->dist_axis_wheel/4

最终得到R的表达式为：

R = (-2rc_para->wheel_radius + sqrt(4rc_para->wheel_radius*rc_para->wheel_radius

• 4rc_para->dist_axis1_axis2rc_para->dist_axis1_axis2/4
• 4rc_para->dist_axis_wheelrc_para->dist_axis_wheel/4
• 4rc_para->dist_wheel_wheelrc_para->dist_wheel_wheel/4

• 4rc_para->dist_axis1_axis2rc_para->dist_axis_wheel
• rc_para->dist_axis_wheel*rc_para->dist_axis_wheel))/