最短步长时间 "X" Subscript, "A" 0 , Baseline , "Y" Subscript, "A" 0 , Baseline , "X" Subscript, "B" 0 , Baseline , "Y" Subscript, "B" 0 , Baseline , "Z" Subscript, 0 , Baseline , "F" Subscript, 0 , Baseline , "P" Subscript, 0 , BaselineXA0,YA0,XB0,YB0,Z0,F0,P0