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同步KDL工程源码到云仓库

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wangdequan
2026-06-27 08:45:38 -04:00
parent 93d8ede54b
commit 95c684fc4d
93 changed files with 25712 additions and 0 deletions
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59
kdl-wasm/web/src/grl/lexer/units.ts Normal file
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export type UnitKind =
| "length"
| "angle"
| "time"
| "mass"
| "linear_velocity"
| "angular_velocity"
| "linear_acceleration"
| "angular_acceleration"
| "percent";
export interface UnitDefinition {
literal: string;
kind: UnitKind;
siUnit: string;
factor: number;
}
const UNIT_DEFINITIONS: UnitDefinition[] = [
{ literal: "m", kind: "length", siUnit: "m", factor: 1 },
{ literal: "mm", kind: "length", siUnit: "m", factor: 0.001 },
{ literal: "rad", kind: "angle", siUnit: "rad", factor: 1 },
{ literal: "deg", kind: "angle", siUnit: "rad", factor: Math.PI / 180 },
{ literal: "s", kind: "time", siUnit: "s", factor: 1 },
{ literal: "ms", kind: "time", siUnit: "s", factor: 0.001 },
{ literal: "kg", kind: "mass", siUnit: "kg", factor: 1 },
{ literal: "m/s", kind: "linear_velocity", siUnit: "m/s", factor: 1 },
{ literal: "mm/s", kind: "linear_velocity", siUnit: "m/s", factor: 0.001 },
{ literal: "rad/s", kind: "angular_velocity", siUnit: "rad/s", factor: 1 },
{ literal: "deg/s", kind: "angular_velocity", siUnit: "rad/s", factor: Math.PI / 180 },
{ literal: "m/s2", kind: "linear_acceleration", siUnit: "m/s2", factor: 1 },
{ literal: "m/s^2", kind: "linear_acceleration", siUnit: "m/s2", factor: 1 },
{ literal: "mm/s2", kind: "linear_acceleration", siUnit: "m/s2", factor: 0.001 },
{ literal: "mm/s^2", kind: "linear_acceleration", siUnit: "m/s2", factor: 0.001 },
{ literal: "rad/s2", kind: "angular_acceleration", siUnit: "rad/s2", factor: 1 },
{ literal: "rad/s^2", kind: "angular_acceleration", siUnit: "rad/s2", factor: 1 },
{ literal: "deg/s2", kind: "angular_acceleration", siUnit: "rad/s2", factor: Math.PI / 180 },
{ literal: "deg/s^2", kind: "angular_acceleration", siUnit: "rad/s2", factor: Math.PI / 180 },
{ literal: "%", kind: "percent", siUnit: "ratio", factor: 0.01 }
];
const UNITS = new Map(UNIT_DEFINITIONS.map((definition) => [definition.literal, definition]));
export function normalizeUnitLiteral(literal: string): UnitDefinition {
const definition = UNITS.get(literal);
if (!definition) {
throw new Error(`Unknown GRL unit: ${literal}`);
}
return definition;
}
export function isGrlUnitLiteral(literal: string): boolean {
return UNITS.has(literal);
}
export function normalizeUnitValue(value: number, unitLiteral: string): number {
const unit = normalizeUnitLiteral(unitLiteral);
return value * unit.factor;
}