package lujing;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Collections;
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import java.util.List;
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/**
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* 异形草地路径规划 - 避障增强版 V7.0
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* 优化：增加了多边形外扩稳定性、障碍物碰撞预判以及冗余路径消除。
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*/
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public class YixinglujingHaveObstacel {
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public static List<PathSegment> planPath(String coordinates, String obstaclesStr, String widthStr, String marginStr) {
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List<Point> rawPoints = parseCoordinates(coordinates);
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if (rawPoints.size() < 3) return new ArrayList<>();
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double mowWidth = Double.parseDouble(widthStr);
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double safeMargin = Double.parseDouble(marginStr);
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// 1. 预处理地块（确保逆时针）
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ensureCounterClockwise(rawPoints);
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List<Point> boundary = getOffsetPolygon(rawPoints, -safeMargin); // 内缩
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if (boundary.size() < 3) return new ArrayList<>();
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// 2. 规划基础路径 (无障碍物状态)
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double bestAngle = findOptimalAngle(boundary);
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Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
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List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
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List<PathSegment> baseLines = new ArrayList<>();
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// 第一阶段：围边
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for (int i = 0; i < alignedBoundary.size(); i++) {
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baseLines.add(new PathSegment(alignedBoundary.get(i), alignedBoundary.get((i + 1) % alignedBoundary.size()), true));
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}
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// 第二阶段：内部扫描
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Point lastEdgePos = alignedBoundary.get(0);
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baseLines.addAll(generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos));
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// 3. 处理障碍物：解析并执行外扩 (障碍物需向外扩 margin)
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List<Obstacle> obstacles = parseObstacles(obstaclesStr, safeMargin);
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// 4. 路径裁剪与优化连接
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return optimizeAndClipPath(baseLines, obstacles);
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}
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private static List<PathSegment> optimizeAndClipPath(List<PathSegment> originalPath, List<Obstacle> obstacles) {
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List<PathSegment> result = new ArrayList<>();
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Point currentPos = null;
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for (PathSegment segment : originalPath) {
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List<PathSegment> clipped = new ArrayList<>();
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clipped.add(segment);
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for (Obstacle obs : obstacles) {
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List<PathSegment> nextIter = new ArrayList<>();
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for (PathSegment s : clipped) {
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nextIter.addAll(obs.clipSegment(s));
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}
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clipped = nextIter;
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}
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for (PathSegment s : clipped) {
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// 优化点：消除长度几乎为0的无效线段
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if (Math.hypot(s.start.x - s.end.x, s.start.y - s.end.y) < 1e-4) continue;
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if (currentPos != null && Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
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// 添加空载路径
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result.add(new PathSegment(currentPos, s.start, false));
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}
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result.add(s);
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currentPos = s.end;
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}
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}
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return result;
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}
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// --- 障碍物模型 ---
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abstract static class Obstacle {
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abstract boolean isInside(Point p);
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abstract List<PathSegment> clipSegment(PathSegment seg);
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}
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static class PolyObstacle extends Obstacle {
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List<Point> points;
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double minX, maxX, minY, maxY;
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public PolyObstacle(List<Point> pts) {
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this.points = pts;
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// 预计算 AABB 边界框提升效率
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minX = minY = Double.MAX_VALUE;
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maxX = maxY = -Double.MAX_VALUE;
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for (Point p : pts) {
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minX = Math.min(minX, p.x); maxX = Math.max(maxX, p.x);
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minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
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}
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}
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@Override
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boolean isInside(Point p) {
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if (p.x < minX || p.x > maxX || p.y < minY || p.y > maxY) return false;
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boolean inside = false;
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for (int i = 0, j = points.size() - 1; i < points.size(); j = i++) {
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if (((points.get(i).y > p.y) != (points.get(j).y > p.y)) &&
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(p.x < (points.get(j).x - points.get(i).x) * (p.y - points.get(i).y) / (points.get(j).y - points.get(i).y) + points.get(i).x)) {
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inside = !inside;
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}
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}
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return inside;
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}
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@Override
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List<PathSegment> clipSegment(PathSegment seg) {
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List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
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for (int i = 0; i < points.size(); i++) {
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double t = getIntersectionT(seg.start, seg.end, points.get(i), points.get((i + 1) % points.size()));
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if (t > 0 && t < 1) ts.add(t);
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}
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Collections.sort(ts);
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List<PathSegment> res = new ArrayList<>();
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for (int i = 0; i < ts.size() - 1; i++) {
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Point s = interpolate(seg.start, seg.end, ts.get(i));
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Point e = interpolate(seg.start, seg.end, ts.get(i + 1));
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if (!isInside(new Point((s.x + e.x) / 2, (s.y + e.y) / 2))) {
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res.add(new PathSegment(s, e, seg.isMowing));
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}
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}
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return res;
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}
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}
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static class CircleObstacle extends Obstacle {
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Point center; double radius;
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public CircleObstacle(Point c, double r) { this.center = c; this.radius = r; }
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@Override
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boolean isInside(Point p) { return Math.hypot(p.x - center.x, p.y - center.y) < radius - 1e-4; }
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@Override
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List<PathSegment> clipSegment(PathSegment seg) {
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List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
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double dx = seg.end.x - seg.start.x, dy = seg.end.y - seg.start.y;
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double fx = seg.start.x - center.x, fy = seg.start.y - center.y;
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double a = dx * dx + dy * dy;
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double b = 2 * (fx * dx + fy * dy);
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double c = fx * fx + fy * fy - radius * radius;
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double disc = b * b - 4 * a * c;
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if (disc >= 0) {
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disc = Math.sqrt(disc);
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double t1 = (-b - disc) / (2 * a), t2 = (-b + disc) / (2 * a);
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if (t1 > 0 && t1 < 1) ts.add(t1);
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if (t2 > 0 && t2 < 1) ts.add(t2);
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}
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Collections.sort(ts);
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List<PathSegment> res = new ArrayList<>();
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for (int i = 0; i < ts.size() - 1; i++) {
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Point s = interpolate(seg.start, seg.end, ts.get(i));
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Point e = interpolate(seg.start, seg.end, ts.get(i + 1));
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if (!isInside(new Point((s.x + e.x) / 2, (s.y + e.y) / 2))) res.add(new PathSegment(s, e, seg.isMowing));
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}
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return res;
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}
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}
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// --- 算法工具类 ---
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private static List<Obstacle> parseObstacles(String obsStr, double margin) {
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List<Obstacle> obstacles = new ArrayList<>();
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if (obsStr == null || obsStr.trim().isEmpty()) return obstacles;
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for (String group : obsStr.split("\\$")) {
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List<Point> pts = parseCoordinates(group);
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if (pts.size() == 2) {
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double r = Math.hypot(pts.get(0).x - pts.get(1).x, pts.get(0).y - pts.get(1).y);
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obstacles.add(new CircleObstacle(pts.get(0), r + margin));
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} else if (pts.size() > 2) {
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ensureCounterClockwise(pts);
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// 多边形外扩：offset 为正
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obstacles.add(new PolyObstacle(getOffsetPolygon(pts, margin)));
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}
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}
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return obstacles;
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}
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/**
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* 优化后的多边形外扩/内缩算法
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* @param offset 正数为外扩，负数为内缩
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*/
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private static List<Point> getOffsetPolygon(List<Point> points, double offset) {
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List<Point> result = new ArrayList<>();
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int n = points.size();
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for (int i = 0; i < n; i++) {
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Point p1 = points.get((i - 1 + n) % n), p2 = points.get(i), p3 = points.get((i + 1) % n);
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double v1x = p2.x - p1.x, v1y = p2.y - p1.y;
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double v2x = p3.x - p2.x, v2y = p3.y - p2.y;
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double l1 = Math.hypot(v1x, v1y), l2 = Math.hypot(v2x, v2y);
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if (l1 < 1e-6 || l2 < 1e-6) continue;
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// 法向量
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double n1x = -v1y / l1, n1y = v1x / l1;
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double n2x = -v2y / l2, n2y = v2x / l2;
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// 角平分线
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double bx = n1x + n2x, by = n1y + n2y;
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double bl = Math.hypot(bx, by);
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if (bl < 1e-6) { bx = n1x; by = n1y; } else { bx /= bl; by /= bl; }
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// 修正距离
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double sinHalf = n1x * bx + n1y * by;
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double d = offset / Math.max(sinHalf, 0.1);
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result.add(new Point(p2.x + bx * d, p2.y + by * d));
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}
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return result;
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}
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private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
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List<PathSegment> segments = new ArrayList<>();
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List<Point> rotated = new ArrayList<>();
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for (Point p : polygon) rotated.add(rotatePoint(p, -angle));
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double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
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for (Point p : rotated) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
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boolean l2r = true;
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for (double y = minY + width/2; y <= maxY - width/2; y += width) {
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List<Double> xInters = getXIntersections(rotated, y);
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if (xInters.size() < 2) continue;
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Collections.sort(xInters);
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List<PathSegment> row = new ArrayList<>();
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for (int i = 0; i < xInters.size() - 1; i += 2) {
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Point s = rotatePoint(new Point(xInters.get(i), y), angle);
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Point e = rotatePoint(new Point(xInters.get(i + 1), y), angle);
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row.add(new PathSegment(s, e, true));
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}
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if (!l2r) {
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Collections.reverse(row);
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for (PathSegment s : row) { Point t = s.start; s.start = s.end; s.end = t; }
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}
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for (PathSegment s : row) {
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if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
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segments.add(new PathSegment(currentPos, s.start, false));
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}
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segments.add(s);
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currentPos = s.end;
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}
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l2r = !l2r;
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}
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return segments;
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}
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// --- 基础数学函数 ---
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private static double getIntersectionT(Point a, Point b, Point c, Point d) {
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double ux = b.x - a.x, uy = b.y - a.y, vx = d.x - c.x, vy = d.y - c.y;
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double det = vx * uy - vy * ux;
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if (Math.abs(det) < 1e-6) return -1;
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return (vx * (c.y - a.y) - vy * (c.x - a.x)) / det;
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}
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private static Point interpolate(Point a, Point b, double t) {
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return new Point(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t);
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}
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private static Point rotatePoint(Point p, double ang) {
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return new Point(p.x * Math.cos(ang) - p.y * Math.sin(ang), p.x * Math.sin(ang) + p.y * Math.cos(ang));
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}
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private static List<Double> getXIntersections(List<Point> poly, double y) {
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List<Double> res = new ArrayList<>();
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for (int i = 0; i < poly.size(); i++) {
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Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
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if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
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res.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
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}
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}
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return res;
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}
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private static Point getFirstScanPoint(List<Point> poly, double w, double a) {
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List<Point> rot = new ArrayList<>();
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for (Point p : poly) rot.add(rotatePoint(p, -a));
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double minY = Double.MAX_VALUE;
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for (Point p : rot) minY = Math.min(minY, p.y);
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List<Double> xs = getXIntersections(rot, minY + w/2);
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if (xs.isEmpty()) return poly.get(0);
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Collections.sort(xs);
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return rotatePoint(new Point(xs.get(0), minY + w/2), a);
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}
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private static List<Point> alignBoundaryStart(List<Point> poly, Point target) {
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int idx = 0; double minD = Double.MAX_VALUE;
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for (int i = 0; i < poly.size(); i++) {
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double d = Math.hypot(poly.get(i).x - target.x, poly.get(i).y - target.y);
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if (d < minD) { minD = d; idx = i; }
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}
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List<Point> res = new ArrayList<>();
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for (int i = 0; i < poly.size(); i++) res.add(poly.get((idx + i) % poly.size()));
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return res;
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}
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private static double findOptimalAngle(List<Point> poly) {
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double bestA = 0, minH = Double.MAX_VALUE;
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for (int i = 0; i < poly.size(); i++) {
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Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
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double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
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double h = 0, miY = Double.MAX_VALUE, maY = -Double.MAX_VALUE;
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for (Point p : poly) {
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Point r = rotatePoint(p, -a);
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miY = Math.min(miY, r.y); maY = Math.max(maY, r.y);
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}
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h = maY - miY;
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if (h < minH) { minH = h; bestA = a; }
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}
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return bestA;
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}
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private static void ensureCounterClockwise(List<Point> pts) {
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double s = 0;
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for (int i = 0; i < pts.size(); i++) s += (pts.get((i + 1) % pts.size()).x - pts.get(i).x) * (pts.get((i + 1) % pts.size()).y + pts.get(i).y);
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if (s > 0) Collections.reverse(pts);
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}
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private static List<Point> parseCoordinates(String s) {
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List<Point> pts = new ArrayList<>();
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if (s == null || s.isEmpty()) return pts;
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for (String p : s.split(";")) {
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String[] xy = p.split(",");
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if (xy.length == 2) pts.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
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}
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if (pts.size() > 1 && pts.get(0).equals(pts.get(pts.size() - 1))) pts.remove(pts.size() - 1);
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return pts;
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}
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public static class Point {
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public double x, y;
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public Point(double x, double y) { this.x = x; this.y = y; }
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@Override
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public boolean equals(Object o) {
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if (!(o instanceof Point)) return false;
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Point p = (Point) o;
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return Math.abs(x - p.x) < 1e-4 && Math.abs(y - p.y) < 1e-4;
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}
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}
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public static class PathSegment {
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public Point start, end;
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public boolean isMowing;
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public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
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}
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}
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