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| | | package lujing; |
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| | | import java.util.ArrayList; |
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| | | import java.util.Collections; |
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| | | import java.util.List; |
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| | | |
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| | | /** |
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| | | * 有障碍物凸形地块路径规划类 |
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| | | * 凸形草地路径规划 (避障优化版) |
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| | | * 优化：增加了障碍物区间预处理、路径连接就近原则、以及更稳健的多边形外扩 |
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| | | */ |
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| | | public class AoxinglujingHaveObstacel { |
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| | | |
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| | | /** |
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| | | * 生成路径 |
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| | | * @param boundaryCoordsStr 地块边界坐标字符串 "x1,y1;x2,y2;..." |
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| | | * @param obstacleCoordsStr 障碍物坐标字符串 |
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| | | * @param mowingWidthStr 割草宽度字符串，如 "0.34" |
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| | | * @param safetyMarginStr 安全边距字符串，如 "0.2" |
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| | | * @return 路径坐标字符串，格式 "x1,y1;x2,y2;..." |
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| | | */ |
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| | | public static String planPath(String boundaryCoordsStr, String obstacleCoordsStr, String mowingWidthStr, String safetyMarginStr) { |
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| | | // TODO: 实现凸形地块有障碍物路径规划算法 |
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| | | // 目前使用默认方法作为临时实现 |
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| | | throw new UnsupportedOperationException("AoxinglujingHaveObstacel.planPath 尚未实现"); |
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| | | |
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| | | private static final double EPSILON = 1e-6; |
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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 String toString() { return String.format("%.6f,%.6f", x, y); } |
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| | | } |
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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 start, Point end, boolean isMowing) { |
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| | | this.start = start; this.end = end; this.isMowing = isMowing; |
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| | | } |
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| | | } |
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| | | public abstract static class Obstacle { |
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| | | public abstract boolean isInside(Point p); |
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| | | public abstract List<Double> getIntersectionsX(double y, double angle); |
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| | | } |
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| | | public static class PolygonObstacle extends Obstacle { |
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| | | public List<Point> points; |
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| | | public PolygonObstacle(List<Point> points) { this.points = points; } |
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| | | |
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| | | @Override |
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| | | public boolean isInside(Point p) { |
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| | | boolean result = 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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| | | result = !result; |
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| | | } |
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| | | } |
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| | | return result; |
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| | | } |
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| | | |
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| | | @Override |
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| | | public List<Double> getIntersectionsX(double y, double angle) { |
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| | | List<Point> rotated = rotatePolygon(this.points, -angle); |
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| | | List<Double> xInts = new ArrayList<>(); |
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| | | for (int i = 0; i < rotated.size(); i++) { |
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| | | Point p1 = rotated.get(i), p2 = rotated.get((i + 1) % rotated.size()); |
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| | | if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) { |
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| | | xInts.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 xInts; |
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| | | } |
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| | | } |
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| | | |
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| | | public static class CircleObstacle extends Obstacle { |
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| | | public Point center; |
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| | | public double radius; |
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| | | public CircleObstacle(Point center, double radius) { this.center = center; this.radius = radius; } |
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| | | |
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| | | @Override |
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| | | public boolean isInside(Point p) { |
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| | | return Math.hypot(p.x - center.x, p.y - center.y) <= radius + EPSILON; |
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| | | } |
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| | | |
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| | | @Override |
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| | | public List<Double> getIntersectionsX(double y, double angle) { |
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| | | List<Double> xInts = new ArrayList<>(); |
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| | | Point rCenter = rotatePoint(center, -angle); |
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| | | double dy = Math.abs(y - rCenter.y); |
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| | | if (dy < radius) { |
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| | | double dx = Math.sqrt(radius * radius - dy * dy); |
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| | | xInts.add(rCenter.x - dx); |
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| | | xInts.add(rCenter.x + dx); |
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| | | } |
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| | | return xInts; |
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| | | } |
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| | | } |
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| | | |
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| | | public static List<PathSegment> planPath(String boundaryStr, String obstacleStr, String widthStr, String marginStr) { |
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| | | List<Point> boundary = parseCoords(boundaryStr); |
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| | | double width = Double.parseDouble(widthStr); |
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| | | double margin = Double.parseDouble(marginStr); |
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| | | List<Obstacle> obstacles = parseObstacles(obstacleStr, margin); |
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| | | |
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| | | return planPathCore(boundary, obstacles, width, margin); |
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| | | } |
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| | | |
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| | | private static List<PathSegment> planPathCore(List<Point> boundary, List<Obstacle> obstacles, double width, double margin) { |
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| | | if (boundary.size() < 3) return new ArrayList<>(); |
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| | | |
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| | | ensureCCW(boundary); |
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| | | List<Point> workArea = shrinkPolygon(boundary, margin); |
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| | | if (workArea.size() < 3) return new ArrayList<>(); |
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| | | |
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| | | double bestAngle = findOptimalScanAngle(workArea); |
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| | | Point firstScanStart = getFirstScanStartPoint(workArea, bestAngle, width); |
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| | | List<Point> alignedWorkArea = alignBoundaryToStart(workArea, firstScanStart); |
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| | | |
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| | | List<PathSegment> finalPath = new ArrayList<>(); |
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| | | |
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| | | // 1. 围边路径 |
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| | | for (int i = 0; i < alignedWorkArea.size(); i++) { |
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| | | finalPath.add(new PathSegment(alignedWorkArea.get(i), alignedWorkArea.get((i + 1) % alignedWorkArea.size()), true)); |
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| | | } |
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| | | |
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| | | // 2. 内部填充 |
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| | | Point currentPos = alignedWorkArea.get(0); |
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| | | List<PathSegment> zigZagLines = generateOptimizedZigZag(workArea, obstacles, bestAngle, width, currentPos); |
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| | | finalPath.addAll(zigZagLines); |
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| | | |
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| | | return finalPath; |
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| | | } |
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| | | |
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| | | private static List<PathSegment> generateOptimizedZigZag(List<Point> polygon, List<Obstacle> obstacles, double angle, double width, Point startPoint) { |
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| | | List<PathSegment> result = new ArrayList<>(); |
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| | | List<Point> rotatedPoly = rotatePolygon(polygon, -angle); |
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| | | |
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| | | double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE; |
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| | | for (Point p : rotatedPoly) { |
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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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| | | Point currentPos = startPoint; |
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| | | boolean leftToRight = true; |
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| | | |
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| | | for (double y = minY + width; y < maxY - width / 2; y += width) { |
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| | | List<Double> intersections = getXIntersections(rotatedPoly, y); |
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| | | if (intersections.size() < 2) continue; |
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| | | Collections.sort(intersections); |
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| | | |
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| | | double xBoundaryMin = intersections.get(0); |
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| | | double xBoundaryMax = intersections.get(intersections.size() - 1); |
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| | | |
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| | | // 收集当前行所有障碍物交点并进行裁剪 |
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| | | List<Double> splitPoints = new ArrayList<>(); |
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| | | splitPoints.add(xBoundaryMin); |
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| | | for (Obstacle obs : obstacles) { |
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| | | List<Double> obsX = obs.getIntersectionsX(y, angle); |
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| | | for (double ox : obsX) { |
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| | | if (ox > xBoundaryMin && ox < xBoundaryMax) splitPoints.add(ox); |
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| | | } |
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| | | } |
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| | | Collections.sort(splitPoints); |
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| | | |
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| | | // 构建有效段 |
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| | | List<LineRange> validRanges = new ArrayList<>(); |
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| | | for (int i = 0; i < splitPoints.size() - 1; i++) { |
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| | | double midX = (splitPoints.get(i) + splitPoints.get(i + 1)) / 2.0; |
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| | | Point midPoint = rotatePoint(new Point(midX, y), angle); |
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| | | |
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| | | boolean insideAnyObstacle = false; |
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| | | for (Obstacle obs : obstacles) { |
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| | | if (obs.isInside(midPoint)) { |
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| | | insideAnyObstacle = true; |
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| | | break; |
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| | | } |
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| | | } |
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| | | if (!insideAnyObstacle) { |
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| | | validRanges.add(new LineRange(splitPoints.get(i), splitPoints.get(i+1))); |
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| | | } |
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| | | } |
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| | | |
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| | | // 根据当前朝向排序有效段 |
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| | | if (!leftToRight) { |
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| | | Collections.reverse(validRanges); |
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| | | for (LineRange range : validRanges) { |
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| | | double temp = range.start; |
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| | | range.start = range.end; |
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| | | range.end = temp; |
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| | | } |
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| | | } |
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| | | |
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| | | // 连接路径 |
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| | | for (LineRange range : validRanges) { |
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| | | Point pStart = rotatePoint(new Point(range.start, y), angle); |
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| | | Point pEnd = rotatePoint(new Point(range.end, y), angle); |
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| | | |
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| | | if (Math.hypot(currentPos.x - pStart.x, currentPos.y - pStart.y) > 0.01) { |
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| | | result.add(new PathSegment(currentPos, pStart, false)); |
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| | | } |
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| | | result.add(new PathSegment(pStart, pEnd, true)); |
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| | | currentPos = pEnd; |
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| | | } |
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| | | leftToRight = !leftToRight; |
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| | | } |
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| | | return result; |
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| | | } |
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| | | |
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| | | private static class LineRange { |
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| | | double start, end; |
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| | | LineRange(double s, double e) { this.start = s; this.end = e; } |
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| | | } |
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| | | |
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| | | // --- 障碍物解析与多边形外扩 --- |
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| | | private static List<Obstacle> parseObstacles(String obsStr, double margin) { |
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| | | List<Obstacle> list = new ArrayList<>(); |
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| | | if (obsStr == null || obsStr.trim().isEmpty()) return list; |
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| | | |
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| | | for (String part : obsStr.split("\\$")) { |
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| | | List<Point> pts = parseCoords(part); |
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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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| | | list.add(new CircleObstacle(pts.get(0), r + margin)); |
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| | | } else if (pts.size() > 2) { |
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| | | ensureCCW(pts); |
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| | | list.add(new PolygonObstacle(expandPolygon(pts, margin))); |
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| | | } |
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| | | } |
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| | | return list; |
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| | | } |
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| | | private static List<Point> expandPolygon(List<Point> poly, double margin) { |
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| | | List<Point> result = new ArrayList<>(); |
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| | | int n = poly.size(); |
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| | | for (int i = 0; i < n; i++) { |
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| | | Point pPrev = poly.get((i - 1 + n) % n); |
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| | | Point pCurr = poly.get(i); |
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| | | Point pNext = poly.get((i + 1) % n); |
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| | | |
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| | | double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y; |
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| | | double l1 = Math.hypot(d1x, d1y); |
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| | | double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y; |
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| | | double l2 = Math.hypot(d2x, d2y); |
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| | | |
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| | | // 计算外法线 |
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| | | double n1x = d1y / l1, n1y = -d1x / l1; |
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| | | double n2x = d2y / l2, n2y = -d2x / l2; |
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| | | |
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| | | double bx = n1x + n2x, by = n1y + n2y; |
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| | | double bLen = Math.hypot(bx, by); |
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| | | if (bLen < EPSILON) { bx = n1x; by = n1y; } else { bx /= bLen; by /= bLen; } |
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| | | |
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| | | double cosHalf = n1x * bx + n1y * by; |
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| | | double d = margin / Math.max(cosHalf, 0.1); |
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| | | // 限制最大外扩，防止尖角畸变 |
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| | | d = Math.min(d, margin * 3); |
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| | | result.add(new Point(pCurr.x + bx * d, pCurr.y + by * d)); |
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| | | } |
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| | | return result; |
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| | | } |
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| | | |
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| | | // --- 基础工具类方法 --- |
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| | | private static List<Point> parseCoords(String s) { |
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| | | List<Point> list = new ArrayList<>(); |
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| | | if(s == null || s.isEmpty()) return list; |
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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) list.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1]))); |
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| | | } |
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| | | return list; |
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| | | } |
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| | | |
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| | | private static void ensureCCW(List<Point> poly) { |
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| | | double s = 0; |
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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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| | | s += (p2.x - p1.x) * (p2.y + p1.y); |
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| | | } |
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| | | if (s > 0) Collections.reverse(poly); |
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| | | } |
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| | | |
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| | | private static List<Point> shrinkPolygon(List<Point> polygon, double margin) { |
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| | | List<Point> result = new ArrayList<>(); |
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| | | int n = polygon.size(); |
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| | | for (int i = 0; i < n; i++) { |
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| | | Point pPrev = polygon.get((i - 1 + n) % n); |
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| | | Point pCurr = polygon.get(i); |
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| | | Point pNext = polygon.get((i + 1) % n); |
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| | | double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y; |
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| | | double l1 = Math.hypot(d1x, d1y); |
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| | | double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y; |
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| | | double l2 = Math.hypot(d2x, d2y); |
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| | | double n1x = -d1y / l1, n1y = d1x / l1; |
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| | | double n2x = -d2y / l2, n2y = d2x / l2; |
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| | | double bx = n1x + n2x, by = n1y + n2y; |
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| | | double bLen = Math.hypot(bx, by); |
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| | | if (bLen < EPSILON) { bx = n1x; by = n1y; } else { bx /= bLen; by /= bLen; } |
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| | | double cosHalf = n1x * bx + n1y * by; |
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| | | double d = margin / Math.max(cosHalf, 0.1); |
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| | | result.add(new Point(pCurr.x + bx * d, pCurr.y + by * d)); |
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| | | } |
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| | | return result; |
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| | | } |
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| | | |
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| | | private static double findOptimalScanAngle(List<Point> polygon) { |
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| | | double minH = Double.MAX_VALUE, bestA = 0; |
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| | | for (int i = 0; i < polygon.size(); i++) { |
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| | | Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size()); |
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| | | double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x); |
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| | | double h = calculatePolygonHeightAtAngle(polygon, angle); |
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| | | if (h < minH) { minH = h; bestA = angle; } |
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| | | } |
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| | | return bestA; |
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| | | } |
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| | | |
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| | | private static double calculatePolygonHeightAtAngle(List<Point> poly, double angle) { |
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| | | double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE; |
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| | | double sin = Math.sin(-angle), cos = Math.cos(-angle); |
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| | | for (Point p : poly) { |
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| | | double ry = p.x * sin + p.y * cos; |
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| | | minY = Math.min(minY, ry); maxY = Math.max(maxY, ry); |
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| | | } |
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| | | return maxY - minY; |
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| | | } |
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| | | |
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| | | private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) { |
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| | | List<Double> xInts = new ArrayList<>(); |
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| | | int n = rotatedPoly.size(); |
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| | | for (int i = 0; i < n; i++) { |
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| | | Point p1 = rotatedPoly.get(i), p2 = rotatedPoly.get((i + 1) % n); |
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| | | if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) { |
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| | | xInts.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 xInts; |
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| | | } |
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| | | |
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| | | private static Point getFirstScanStartPoint(List<Point> polygon, double angle, double width) { |
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| | | List<Point> rotated = rotatePolygon(polygon, -angle); |
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| | | double minY = Double.MAX_VALUE; |
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| | | for (Point p : rotated) minY = Math.min(minY, p.y); |
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| | | double startY = minY + width + EPSILON; |
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| | | List<Double> xInts = getXIntersections(rotated, startY); |
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| | | if (xInts.isEmpty()) return polygon.get(0); |
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| | | Collections.sort(xInts); |
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| | | return rotatePoint(new Point(xInts.get(0), startY), angle); |
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| | | } |
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| | | |
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| | | private static List<Point> alignBoundaryToStart(List<Point> polygon, Point target) { |
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| | | int bestIdx = 0; double minDist = Double.MAX_VALUE; |
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| | | for (int i = 0; i < polygon.size(); i++) { |
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| | | double d = Math.hypot(polygon.get(i).x - target.x, polygon.get(i).y - target.y); |
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| | | if (d < minDist) { minDist = d; bestIdx = i; } |
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| | | } |
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| | | List<Point> aligned = new ArrayList<>(); |
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| | | for (int i = 0; i < polygon.size(); i++) aligned.add(polygon.get((bestIdx + i) % polygon.size())); |
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| | | return aligned; |
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| | | } |
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| | | |
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| | | private static Point rotatePoint(Point p, double angle) { |
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| | | double c = Math.cos(angle), s = Math.sin(angle); |
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| | | return new Point(p.x * c - p.y * s, p.x * s + p.y * c); |
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| | | } |
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| | | |
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| | | private static List<Point> rotatePolygon(List<Point> poly, double angle) { |
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| | | List<Point> res = new ArrayList<>(); |
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| | | for (Point p : poly) res.add(rotatePoint(p, angle)); |
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| | | return res; |
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| | | } |
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| | | } |
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