{"id":408215,"date":"2024-08-30T14:26:25","date_gmt":"2024-08-30T06:26:25","guid":{"rendered":"https:\/\/www.youtupa.com\/gonglue\/408215.html"},"modified":"2024-08-31T05:55:56","modified_gmt":"2024-08-30T21:55:56","slug":"%e5%a6%82%e4%bd%95%e8%ae%a1%e7%ae%97%e6%ac%a7%e6%8b%89%e8%a7%92%ef%bc%9f-%e6%ac%a7%e6%8b%89%e8%a7%92%e8%87%aa%e8%bd%ac%e5%8e%9f%e7%90%86%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/www.youtupa.com\/gonglue\/408215.html","title":{"rendered":"\u5982\u4f55\u8ba1\u7b97\u6b27\u62c9\u89d2\uff1f \u6b27\u62c9\u89d2\u81ea\u8f6c\u539f\u7406\uff1f"},"content":{"rendered":"<figure class=\"wp-block-image size-full aligncenter\"><img loading=\"lazy\" decoding=\"async\" width=\"480\" height=\"300\" src=\"https:\/\/www.youtupa.com\/wp-content\/uploads\/2024\/08\/f5ccd806b176cd00c61a76aa9a158bd8.png\" class=\"attachment-post-thumbnail size-post-thumbnail wp-post-image\" alt=\"\u5982\u4f55\u8ba1\u7b97\u6b27\u62c9\u89d2\uff1f \u6b27\u62c9\u89d2\u81ea\u8f6c\u539f\u7406\uff1f\" title=\"\u5982\u4f55\u8ba1\u7b97\u6b27\u62c9\u89d2\uff1f \u6b27\u62c9\u89d2\u81ea\u8f6c\u539f\u7406\uff1f\u7f29\u7565\u56fe\" \/><\/figure>\n<p> \u4e00\u3001\u5982\u4f55\u8ba1\u7b97\u6b27\u62c9\u89d2\uff1f\u6b27\u62c9\u89d2\u7684\u6982\u5ff5\uff0c\u5b9a\u4e49\u7f51\u4e0a\u6709\u5f88\u591a\uff0c\u5927\u5bb6\u53bb\u641c\u4e00\u4e0b\u5c31\u77e5\u9053\u4e86\uff0c\u4f46\u8fd9\u4e9b\u6982\u5ff5\uff0c\u5b9a\u4e49\u770b\u8d77\u6765\u90fd\u61c2\uff0c\u4f46\u5bf9\u4e8e\u6709\u4e9b\u521d\u5b66\u8005\u6765\u8bf4\uff0c\u53ef\u80fd\u6709\u4e9b\u5730\u65b9\u96be\u4ee5\u7406\u89e3\uff0c\u672c\u6587\u629b\u7816\u5f15\u7389\uff0c\u5c1d\u8bd5\u63cf\u8ff0\u4e00\u4e0b\u8fd9\u4e2a\u95ee\u9898 <\/p>\n<h2>\u4e00\u3001\u5982\u4f55\u8ba1\u7b97\u6b27\u62c9\u89d2\uff1f<\/h2>\n<p>\u6b27\u62c9\u89d2\u7684\u6982\u5ff5\uff0c\u5b9a\u4e49\u7f51\u4e0a\u6709\u5f88\u591a\uff0c\u5927\u5bb6\u53bb\u641c\u4e00\u4e0b\u5c31\u77e5\u9053\u4e86\uff0c\u4f46\u8fd9\u4e9b\u6982\u5ff5\uff0c\u5b9a\u4e49\u770b\u8d77\u6765\u90fd\u61c2\uff0c\u4f46\u5bf9\u4e8e\u6709\u4e9b\u521d\u5b66\u8005\u6765\u8bf4\uff0c\u53ef\u80fd\u6709\u4e9b\u5730\u65b9\u96be\u4ee5\u7406\u89e3\uff0c\u672c\u6587\u629b\u7816\u5f15\u7389\uff0c\u5c1d\u8bd5\u63cf\u8ff0\u4e00\u4e0b\u8fd9\u4e2a\u95ee\u9898\uff0c\u5982\u6709\u9519\u8bef\uff0c\u6b22\u8fce\u6307\u6b63.<\/p>\n<p>\u672c\u6587\u91cd\u70b9\u63cf\u8ff0\u6982\u5ff5\uff0c\u4e0d\u6d89\u53ca\u5177\u4f53\u8ba1\u7b97\u3002<\/p>\n<p>\u5148\u770b\u4e00\u4e2a\u95ee\u9898,\u7a7a\u95f4\u4e2d\u4e00\u4e2a\u70b9p\u7ed5\u4e00\u4e2a\u8f74\u65cb\u8f6c\u03c9\u89d2\u5ea6\u5230p&#8217;\u70b9,\u6c42p&#8217;\u7684\u5750\u6807\u548c\u65cb\u8f6c\u77e9\u9635.\u8fd9\u5c31\u662f\u6b27\u62c9\u89d2\u8981\u89e3\u51b3\u7684\u95ee\u9898.<\/p>\n<p>\u53ea\u4e0d\u8fc7,\u6b27\u62c9\u89d2\u6cd5\u5c06\u201c\u7ed51\u4e2a\u8f74\u65cb\u8f6c1\u4e2a\u89d2\u5ea6\u201d\u5206\u89e3\u6210\u201c\u8fde\u7eed\u7ed53\u4e2a\u8f74\u65cb\u8f6c3\u4e2a\u89d2\u5ea6\u201d.(\u5373\u8f74\u89d2\u548c\u6b27\u62c9\u89d2\u7684\u8f6c\u6362\u95ee\u9898,\u6709\u5174\u8da3\u7684\u540c\u5b66\u53ef\u4ee5\u81ea\u884c\u7814\u7a76).<\/p>\n<p>\u5206\u89e3\u4e4b\u540e,\u51fa\u73b03\u4e2a\u65cb\u8f6c\u8f74,\u800c\u4e14\u968f\u7740\u65cb\u8f6c3\u4e2a\u65cb\u8f6c\u8f74\u7684\u65b9\u5411\u4e0d\u65ad\u53d8\u5316,\u8fd9\u4e2a\u65cb\u8f6c\u8f74\u7684\u65b9\u5411(\u53f3\u624b\u6cd5\u5219)\u5c31\u4ee3\u8868\u521a\u4f53\u7684&#8221;\u65b9\u5411&#8221;,&#8221;\u5b9a\u5411&#8221;\uff0c\u6216&#8221;\u53d6\u5411&#8221;\uff0c&#8221;\u671d\u5411&#8221;.\u8fd9\u5c31\u662f\u8fd9\u4e9b\u540d\u8bcd\u5728\u4e00\u4e9b\u6b27\u62c9\u89d2\u6982\u5ff5\u4e2d\u7684\u610f\u601d.<\/p>\n<h2>\u4e8c\u3001\u6b27\u62c9\u89d2\u81ea\u8f6c\u539f\u7406\uff1f<\/h2>\n<p>\u6b27\u62c9\u89d2\u662f\u7531Leonhard Euler \u63d0\u51fa\u7684\u6982\u5ff5,\u7528\u6765\u63cf\u8ff0\u521a\u4f53\/\u79fb\u52a8\u5750\u6807\u7cfb\u5728\u4e00\u4e2a\u56fa\u5b9a\u5750\u6807\u7cfb\u4e2d\u7684\u59ff\u6001.\u7b80\u5355\u7684\u8bf4\u662f\u4f7f\u7528XYZ\u4e09\u4e2a\u8f74\u7684\u65cb\u8f6c\u5206\u91cf,\u6765\u63cf\u8ff0\u4e00\u4e2a6\u81ea\u7531\u5ea6\u7684\u65cb\u8f6c.<\/p>\n<p>\u6b27\u62c9\u89d2\u4e00\u822c\u5177\u6709\u4e24\u5927\u7c7b\u8868\u793a\u65b9\u5f0f,\u6bcf\u7c7b\u6309\u7167\u65cb\u8f6c\u6b21\u5e8f\u7684\u4e0d\u540c\u5206\u4e3a6\u5c0f\u7c7b:<\/p>\n<p>Proper Euler angles (z-x-z, x-y-x, y-z-y, z-y-z, x-z-x, y-x-y)<\/p>\n<p>Tait\u2013Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y, z-y-x, y-x-z).<\/p>\n<p>\u6bcf\u4e2a\u5927\u7c7b\u90fd\u4f7f\u7528\u4e863\u4e2a\u53d8\u91cf\u63cf\u8ff0\u4e09\u6b21\u65cb\u8f6c\u8fc7\u7a0b\u4e2d\u7684\u65cb\u8f6c\u89d2\u5ea6, \u5dee\u522b\u5728\u4e8eProper Euler angles\u53ea\u6d89\u53ca\u4e24\u4e2a\u8f6c\u8f74.\u800cTait\u2013Bryan angles\u6d89\u53ca\u4e09\u4e2a\u8f6c\u8f74.\u4e00\u822c\u5728SLAM\u4e2d\u6211\u4eec\u4f7f\u7528\u7684\u662fTait\u2013Bryan angles.<\/p>\n<p>Tait\u2013Bryan angles \u4e5f\u88ab\u79f0\u4e3aCardan angles, nautical angles, (heading, elevation, and bank),(yaw, pitch, and roll). \u6211\u4eec\u63a5\u89e6\u7684\u6bd4\u8f83\u591a\u7684\u662fyaw(\u504f\u822a), pitch(\u4fef\u4ef0), roll(\u6a2a\u6eda).\u4e09\u4e2a\u53d8\u91cf\u4e00\u822c\u5bf9\u5e94(\u8f66\u4f53,\u98de\u884c\u5668\u7684)z,y,x\u4e09\u4e2a\u5750\u6807\u8f74<\/p>\n<h2>\u4e09\u3001\u6b27\u62c9\u89d2\u901a\u4fd7\u8bb2\u89e3\uff1f<\/h2>\n<p>\u4e00\u822c\u66f4\u5e38\u53eb\u505a\u2014\u2014\u6b27\u62c9\u89d2\u7684\u201c\u5947\u5f02\u70b9\u201d\u3002\u7406\u89e3\u5982\u4e0b\uff1a<\/p>\n<p>\uff081\uff09\u5982\u679c\u4f60\u5927\u5b66\u4ee5\u4e0a\u2014\u2014\u6b27\u62c9\u89d2\u662f\u63cf\u8ff0\u521a\u4f53\u8f6c\u52a8\u7684\u4e09\u4e2a\u8f74\u89d2\u3002\u5947\u5f02\u70b9\u5c31\u662f\u65e0\u6cd5\u786e\u5b9a\u8f6c\u52a8\u65b9\u5411\u7684\u89d2\u5ea6\uff0c\u6216\u8005\u8bf4\u662f\u5bf9\u5e94\u65e0\u6570\u79cd\u53ef\u80fd\u8f6c\u52a8\u65b9\u5411\u7684\u7279\u5b9a\u89d2\u5ea6\u3002<\/p>\n<p>\u5982\u679c\u4f60\u521d\u63a5\u89e6\uff0c\u4f60\u53ef\u4ee5\u60f3\u8c61\u4e00\u4e2a\u5728\u5317\u6781\u7684\u4eba\uff0c\u4f60\u8ba9\u4ed6\u5411\u5357\u8d70\uff0c\u4ed6\u6709\u65e0\u6570\u4e2a\u8d70\u6cd5\u3002\u90a3\u4e48\u5317\u6781\u5c31\u662f\u4ed6\u8fd0\u52a8\u7684\u5947\u5f02\u70b9\u3002<\/p>\n<p>\uff082\uff09\u5982\u679c\u4f60\u9ad8\u4e2d\u53ca\u4ee5\u4e0b\u2014\u2014\u4f60\u53ea\u8981\u8bb0\u5f97\u6b27\u62c9\u89d2\u6709\u51e0\u4e2a\u7279\u6b8a\u503c\u662f\u4e0d\u80fd\u201c\u8fde\u7eed\u8de8\u8fc7\u201d\u7684\u5373\u53ef\u3002<\/p>\n<h2>\u56db\u3001\u4ec0\u4e48\u662f\u6b27\u62c9\u89d2\u5947\u70b9\uff1f<\/h2>\n<p>\u4e00\u822c\u66f4\u5e38\u53eb\u505a\u2014\u2014\u6b27\u62c9\u89d2\u7684\u201c\u5947\u5f02\u70b9\u201d\u3002\u7406\u89e3\u5982\u4e0b\uff1a<\/p>\n<p>\uff081\uff09\u5982\u679c\u4f60\u5927\u5b66\u4ee5\u4e0a\u2014\u2014\u6b27\u62c9\u89d2\u662f\u63cf\u8ff0\u521a\u4f53\u8f6c\u52a8\u7684\u4e09\u4e2a\u8f74\u89d2\u3002\u5947\u5f02\u70b9\u5c31\u662f\u65e0\u6cd5\u786e\u5b9a\u8f6c\u52a8\u65b9\u5411\u7684\u89d2\u5ea6\uff0c\u6216\u8005\u8bf4\u662f\u5bf9\u5e94\u65e0\u6570\u79cd\u53ef\u80fd\u8f6c\u52a8\u65b9\u5411\u7684\u7279\u5b9a\u89d2\u5ea6\u3002<\/p>\n<p>\u5982\u679c\u4f60\u521d\u63a5\u89e6\uff0c\u4f60\u53ef\u4ee5\u60f3\u8c61\u4e00\u4e2a\u5728\u5317\u6781\u7684\u4eba\uff0c\u4f60\u8ba9\u4ed6\u5411\u5357\u8d70\uff0c\u4ed6\u6709\u65e0\u6570\u4e2a\u8d70\u6cd5\u3002\u90a3\u4e48\u5317\u6781\u5c31\u662f\u4ed6\u8fd0\u52a8\u7684\u5947\u5f02\u70b9\u3002<\/p>\n<p>\uff082\uff09\u5982\u679c\u4f60\u9ad8\u4e2d\u53ca\u4ee5\u4e0b\u2014\u2014\u4f60\u53ea\u8981\u8bb0\u5f97\u6b27\u62c9\u89d2\u6709\u51e0\u4e2a\u7279\u6b8a\u503c\u662f\u4e0d\u80fd\u201c\u8fde\u7eed\u8de8\u8fc7\u201d\u7684\u5373\u53ef\u3002<\/p>\n<h2>\u4e94\u3001\u6b27\u62c9\u89d2\u7cfb\u5206\u4e3a\u5f88\u591a\u79cd\u5417\uff1f<\/h2>\n<p>\u5f53\u7136\u3002\u4f20\u7edf\u7684\u6b27\u62c9\u89d2\u5c31\u662f\uff1a\u8fdb\u52a8\u89d2\u3001\u7ae0\u52a8\u89d2\u548c\u81ea\u8f6c\u89d2\u3002\u4f46\u6709\u4e00\u4e2a\u7f3a\u70b9\uff1a\u5728\u7ae0\u52a8\u89d2\u5f88\u5c0f\u65f6\uff08\u6216\u63a5\u8fd1180\u5ea6\u65f6\uff09\u8fdb\u52a8\u89d2\u548c\u81ea\u8f6c\u89d2\u5206\u4e0d\u6e05\u695a\uff0c\u5728\u6570\u5b66\u5904\u7406\u4e0a\u51fa\u73b0\u5947\u5f02\u6027\uff0c\u56e0\u6b64\u5c31\u51fa\u73b0\u4e86\u5176\u5b83\u5f62\u5f0f\u7684\u6b27\u62c9\u89d2\uff08\u79f0\u4e3a\u5e7f\u4e49\u6b27\u62c9\u89d2\uff09\uff0c\u5982\u63cf\u8ff0\u98de\u673a\u8fd0\u52a8\u7684\u6b27\u62c9\u89d2\u4e3a\uff1a\u504f\u822a\u89d2\u3001\u4fef\u4ef0\u89d2\u548c\u7ffb\u6eda\u89d2\u3002<\/p>\n<p>\u6bcf\u79cd\u5f62\u5f0f\u7684\u6b27\u62c9\u89d2\u90fd\u6709\u81ea\u5df1\u7684\u7f3a\u9677\uff0c\u5373\u6240\u8c13\u7684\u5947\u5f02\u6027\uff0c\u53ea\u80fd\u6839\u636e\u5177\u4f53\u60c5\u51b5\uff0c\u5408\u7406\u9009\u62e9\u3002 <\/p>\n<h2>\u516d\u3001\u656c\u9152\u6b21\u5e8f\uff1f<\/h2>\n<p>\u656c\u9152\u4e00\u822c\u60c5\u51b5\u4e0b\u5e94\u6309\u5e74\u9f84\u5927\u5c0f\u3001\u804c\u4f4d\u9ad8\u4f4e\u3001\u5bbe\u4e3b\u8eab\u4efd\u4e3a\u5e8f\uff0c\u656c\u9152\u524d\u4e00\u5b9a\u8981\u8003\u8651\u597d\u656c\u9152\u7684\u987a\u5e8f\uff0c\u5206\u660e\u4e3b\u6b21\uff0c\u907f\u514d\u51fa\u73b0\u5c34\u5c2c\u7684\u60c5\u51b5\u3002<\/p>\n<p>\u5373\u4f7f\u4f60\u5206\u4e0d\u6e05\u6216\u804c\u4f4d\u3001\u8eab\u4efd\u9ad8\u4f4e\u4e0d\u660e\u786e\uff0c\u4e5f\u8981\u6309\u7edf\u4e00\u7684\u987a\u5e8f\u656c\u9152\uff0c\u6bd4\u5982\u5148\u4ece\u81ea\u5df1\u8eab\u8fb9\u6309\u987a\u65f6\u9488\u65b9\u5411\u5f00\u59cb\u656c\u9152\uff0c\u6216\u662f\u4ece\u5de6\u5230\u53f3\u3001\u4ece\u53f3\u5230\u5de6\u8fdb\u884c\u656c\u9152<\/p>\n<h2>\u4e03\u3001dnf\u5fbd\u7ae0\u6b21\u5e8f\uff1f<\/h2>\n<p>\u6839\u636e\u7b49\u7ea7\u533a\u5206\uff0c\u5fbd\u7ae0\u5206\u4e3a\u201c\u707f\u70c2\u7684\u201d\uff0c\u201c\u534e\u4e3d\u7684\u201d\uff0c\u201c\u95ea\u4eae\u7684\u201d\uff0c\u201c\u6697\u6de1\u7684\u201d\u56db\u79cd\u7b49\u7ea7\u3002\u5176\u4e2d\u201c\u6697\u6de1\u7684\u201d\u7cfb\u5217\u5fbd\u7ae0\u53ef\u4ee5\u76f4\u63a5\u5728\u8fbe\u8299\u59ae\u5904\u8fdb\u884c\u8d2d\u4e70\uff0c\u201c\u95ea\u4eae\u7684\u201d\u7cfb\u5217\u5fbd\u7ae0\u53ef\u4ee5\u901a\u8fc7\u5730\u4e0b\u57ce\u6389\u843d\u83b7\u5f97\uff0c\u201c\u534e\u4e3d\u7684\u201d\u548c\u201c\u707f\u70c2\u7684\u201d\u7cfb\u5217\u5fbd\u7ae0\u5219\u662f\u901a\u8fc7\u5bf9\u88c5\u626e\u8fdb\u884c\u91cd\u94f8\u6765\u83b7\u5f97<\/p>\n<h2>\u516b\u3001\u5b66\u4f4d\u9ad8\u4f4e\u6b21\u5e8f\uff1f<\/h2>\n<p>\u5b66\u5386\u4ece\u4f4e\u5230\u9ad8\u7684\u987a\u5e8f\u4e3a\uff1a\u5c0f\u5b66\u3001\u521d\u4e2d\u3001\u4e2d\u4e13\/\u9ad8\u4e2d\u3001\u4e13\u79d1\u3001\u672c\u79d1\u3001\u7855\u58eb\u7814\u7a76\u751f\u3001\u535a\u58eb\u7814\u7a76\u751f\u3002\u9662\u58eb\u4e0d\u662f\u5b66\u5386\uff0c\u662f\u8363\u8a89\u3002\u5b66\u5386\uff0c\u6c42\u5b66\u7684\u7ecf\u5386\u3002\u6307\u66fe\u5728\u54ea\u4e9b\u5b66\u6821\u8084\u4e1a\u6216\u6bd5\u4e1a\u3002\u5728\u5b9e\u9645\u751f\u6d3b\u548c\u5de5\u4f5c\u4e2d\uff0c\u662f\u6307\u4ed6\u6700\u540e\u4e5f\u662f\u6700\u9ad8\u5c42\u6b21\u7684\u4e00\u6bb5\u5b66\u4e60\u7ecf\u5386\uff0c\u4ee5\u7ecf\u6559\u80b2\u884c\u653f\u90e8\u95e8\u6279\u51c6\uff0c\u5b9e\u65bd\u5b66\u5386\u6559\u80b2\u3001\u6709\u56fd\u5bb6\u8ba4\u53ef\u7684\u6587\u51ed\u9881\u53d1\u6743\u529b\u7684\u5b66\u6821\u53ca\u5176\u5b83\u6559\u80b2\u673a\u6784\u6240\u9881\u53d1\u7684\u5b66\u5386\u8bc1\u4e66\u4e3a\u51ed\u8bc1\u3002<\/p>\n<h2>\u4e5d\u3001\u5eb7\u4e43\u99a8\u82b1\u53f6\u6b21\u5e8f\uff1f<\/h2>\n<p>\u830e\u4e1b\u751f\uff0c\u8d28\u575a\u786c\uff0c\u7070\u7eff\u8272\uff0c\u8282\u81a8\u5927\uff0c\u9ad8\u5ea6\u7ea650\u339d\u3002\u53f6\u539a\u7ebf\u5f62\uff0c\u5bf9\u751f\u3002\u830e\u53f6\u4e0e\u4e2d\u56fd\u77f3\u7af9\u76f8\u4f3c\u800c\u8f83\u7c97\u58ee\uff0c\u88ab\u6709\u767d\u7c89\u3002\u82b1\u5927\uff0c\u5177\u82b3\u9999\uff0c\u5355\u751f\u30012\uff0d3\u6735\u7c07\u751f\u6216\u6210\u805a\u4f1e\u82b1\u5e8f\uff1b\u843c\u4e0b\u6709\u83f1\u72b6\u5375\u5f62\u5c0f\u82de\u7247\u56db\u679a\uff0c\u5148\u7aef\u77ed\u5c16\uff0c\u957f\u7ea6\u843c\u7b52\u56db\u5206\u4e4b\u4e00\uff1b\u843c\u7b52\u7eff\u8272\uff0c\u4e94\u88c2\uff1b\u82b1\u74e3\u4e0d\u89c4\u5219\uff0c\u8fb9\u7f18\u6709\u9f7f\uff0c\u5355\u74e3\u6216\u91cd\u74e3\uff0c\u6709\u7ea2\u8272\u3001\u7c89\u8272\u3001\u9ec4\u8272\u3001\u767d\u8272\u7b49\u8272\u3002<\/p>\n<h2>\u5341\u3001\u7528matlab\u6839\u636e\u6b27\u62c9\u89d2\u6c42\u5bf9\u5e94\u65cb\u8f6c\u77e9\u9635\uff1f<\/h2>\n<p>\u8fd9\u4e2a\u51fd\u6570\u8fd4\u56de\u6cbfx\uff0cy\u548cz\u65b9\u5411\u4e0a\u7684\u65cb\u8f6c\uff0c\u4ece3\u00d73\u65cb\u8f6c\u77e9\u9635\u3002This function return the rotation along x,y and z direction from a 3&#215;3 Rotation Matrix.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u5982\u4f55\u8ba1\u7b97\u6b27\u62c9\u89d2\uff1f\u6b27\u62c9\u89d2\u7684\u6982\u5ff5\uff0c\u5b9a\u4e49\u7f51\u4e0a\u6709\u5f88\u591a\uff0c\u5927\u5bb6\u53bb\u641c\u4e00\u4e0b\u5c31\u77e5\u9053\u4e86\uff0c\u4f46\u8fd9\u4e9b\u6982\u5ff5\uff0c\u5b9a\u4e49\u770b\u8d77\u6765\u90fd\u61c2\uff0c\u4f46\u5bf9\u4e8e\u6709\u4e9b [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":412772,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-408215","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-gonglue"],"_links":{"self":[{"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/posts\/408215"}],"collection":[{"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/comments?post=408215"}],"version-history":[{"count":1,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/posts\/408215\/revisions"}],"predecessor-version":[{"id":412774,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/posts\/408215\/revisions\/412774"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/media\/412772"}],"wp:attachment":[{"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/media?parent=408215"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/categories?post=408215"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.youtupa.com\/wp-json\/wp\/v2\/tags?post=408215"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}