求R的表达式m1 = sqrtrc_para-dist_axis_wheelrc_para-dist_axis_wheel - rc_para-dist_wheel_wheel2rc_para-dist_wheel_wheel2;m2 = sqrt R2+rc_para-wheel_radiusR2+rc_para-wheel_radius -rc_par
R的表达式为:
R = sqrt((m1+m2)(m1+m2) - mm) - rc_para->wheel_radius - rc_para->dist_wheel_wheel/2
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