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| | | package lujing; |
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| | | import java.util.*; |
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| | | |
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| | | import java.util.List; |
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| | | |
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| | | /** |
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| | | * 有障碍物异形地块路径规划类 |
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| | | * 异形草地路径规划 - 含障碍物版 |
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| | | * 功能：在地块内部避开障碍物，生成连续弓字形割草路径 |
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| | | */ |
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| | | public class YixinglujingHaveObstacel { |
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| | | |
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| | | public static List<PathSegment> planPath(String coordinates, String obstaclesStr, |
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| | | String widthStr, String marginStr) { |
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| | | // 1. 解析参数 |
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| | | List<Point> rawPoints = parseCoordinates(coordinates); |
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| | | if (rawPoints.size() < 3) return new ArrayList<>(); |
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| | | |
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| | | double mowWidth = Double.parseDouble(widthStr); |
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| | | double safeMargin = Double.parseDouble(marginStr); |
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| | | |
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| | | // 解析障碍物 |
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| | | List<Obstacle> obstacles = parseObstacles(obstaclesStr); |
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| | | |
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| | | // 2. 预处理：确保边界逆时针 |
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| | | ensureCounterClockwise(rawPoints); |
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| | | |
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| | | // 3. 生成内缩多边形（安全边界） |
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| | | List<Point> boundary = getInsetPolygon(rawPoints, safeMargin); |
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| | | if (boundary.size() < 3) return new ArrayList<>(); |
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| | | |
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| | | // 4. 外扩障碍物（安全边距） |
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| | | List<Obstacle> expandedObstacles = expandObstacles(obstacles, safeMargin); |
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| | | |
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| | | // 5. 确定最优作业角度 |
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| | | double bestAngle = findOptimalAngle(boundary); |
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| | | |
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| | | // 6. 获取首个作业点，用于对齐围边起点 |
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| | | Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle); |
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| | | |
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| | | // 7. 对齐围边 |
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| | | List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart); |
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| | | |
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| | | // 8. 第一阶段：围边路径 |
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| | | List<PathSegment> finalPath = new ArrayList<>(); |
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| | | for (int i = 0; i < alignedBoundary.size(); i++) { |
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| | | Point pStart = alignedBoundary.get(i); |
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| | | Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size()); |
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| | | finalPath.add(new PathSegment(pStart, pEnd, true)); |
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| | | } |
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| | | |
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| | | // 9. 第二阶段：生成内部扫描路径（考虑障碍物） |
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| | | Point lastEdgePos = alignedBoundary.get(0); |
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| | | List<PathSegment> scanPath = generateGlobalScanPathWithObstacles( |
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| | | boundary, expandedObstacles, mowWidth, bestAngle, lastEdgePos); |
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| | | |
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| | | finalPath.addAll(scanPath); |
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| | | |
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| | | // 10. 格式化坐标：保留两位小数 |
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| | | for (PathSegment segment : finalPath) { |
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| | | segment.start.x = Math.round(segment.start.x * 100.0) / 100.0; |
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| | | segment.start.y = Math.round(segment.start.y * 100.0) / 100.0; |
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| | | segment.end.x = Math.round(segment.end.x * 100.0) / 100.0; |
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| | | segment.end.y = Math.round(segment.end.y * 100.0) / 100.0; |
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| | | } |
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| | | |
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| | | // 11. 打印输出路径坐标 |
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| | | printPathCoordinates(finalPath); |
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| | | |
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| | | return finalPath; |
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| | | } |
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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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| | | * 生成带障碍物的扫描路径 |
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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: 实现异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("YixinglujingHaveObstacel.planPath 尚未实现"); |
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| | | private static List<PathSegment> generateGlobalScanPathWithObstacles( |
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| | | List<Point> polygon, List<Obstacle> obstacles, |
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| | | double width, double angle, Point startPos) { |
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| | | |
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| | | // 1. 生成原始扫描线（无障碍物） |
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| | | List<PathSegment> originalSegments = generateGlobalScanPath(polygon, width, angle, startPos); |
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| | | |
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| | | // 2. 移除在障碍物内部的线段 |
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| | | List<PathSegment> remainingSegments = new ArrayList<>(); |
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| | | for (PathSegment seg : originalSegments) { |
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| | | if (!seg.isMowing) { |
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| | | // 空走段直接保留 |
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| | | remainingSegments.add(seg); |
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| | | continue; |
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| | | } |
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| | | |
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| | | // 将割草段与所有障碍物进行裁剪 |
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| | | List<PathSegment> clippedSegments = new ArrayList<>(); |
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| | | clippedSegments.add(seg); |
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| | | |
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| | | for (Obstacle obs : obstacles) { |
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| | | List<PathSegment> newSegments = new ArrayList<>(); |
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| | | for (PathSegment s : clippedSegments) { |
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| | | newSegments.addAll(clipSegmentWithObstacle(s, obs)); |
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| | | } |
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| | | clippedSegments = newSegments; |
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| | | } |
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| | | |
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| | | remainingSegments.addAll(clippedSegments); |
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| | | } |
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| | | |
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| | | // 3. 重新连接路径段（弓字形连接） |
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| | | return reconnectSegments(remainingSegments); |
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| | | } |
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| | | |
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| | | /** |
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| | | * 将线段与障碍物进行裁剪 |
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| | | * 返回不在障碍物内部的子线段 |
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| | | */ |
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| | | private static List<PathSegment> clipSegmentWithObstacle(PathSegment segment, Obstacle obstacle) { |
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| | | List<PathSegment> result = new ArrayList<>(); |
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| | | |
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| | | // 检查线段是否完全在障碍物外部 |
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| | | boolean startInside = obstacle.contains(segment.start); |
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| | | boolean endInside = obstacle.contains(segment.end); |
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| | | |
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| | | if (!startInside && !endInside) { |
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| | | // 线段两端都在外部，检查是否穿过障碍物 |
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| | | List<Point> intersections = obstacle.getIntersections(segment); |
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| | | if (intersections.isEmpty()) { |
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| | | // 完全在外部 |
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| | | result.add(segment); |
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| | | } else { |
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| | | // 穿过障碍物，分割线段 |
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| | | intersections.sort(Comparator.comparingDouble(p -> |
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| | | distance(segment.start, p))); |
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| | | |
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| | | Point prevPoint = segment.start; |
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| | | for (Point inter : intersections) { |
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| | | result.add(new PathSegment(prevPoint, inter, true)); |
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| | | prevPoint = inter; |
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| | | } |
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| | | result.add(new PathSegment(prevPoint, segment.end, true)); |
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| | | |
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| | | // 移除在障碍物内部的段（奇数索引的段） |
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| | | List<PathSegment> filtered = new ArrayList<>(); |
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| | | for (int i = 0; i < result.size(); i++) { |
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| | | PathSegment s = result.get(i); |
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| | | Point midPoint = new Point( |
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| | | (s.start.x + s.end.x) / 2, |
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| | | (s.start.y + s.end.y) / 2 |
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| | | ); |
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| | | if (!obstacle.contains(midPoint)) { |
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| | | filtered.add(s); |
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| | | } |
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| | | } |
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| | | return filtered; |
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| | | } |
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| | | } else if (startInside && endInside) { |
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| | | // 完全在内部，丢弃 |
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| | | return result; |
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| | | } else { |
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| | | // 一端在内部，一端在外部 |
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| | | Point insidePoint = startInside ? segment.start : segment.end; |
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| | | Point outsidePoint = startInside ? segment.end : segment.start; |
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| | | |
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| | | List<Point> intersections = obstacle.getIntersections(segment); |
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| | | if (!intersections.isEmpty()) { |
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| | | // 取离外部点最近的交点 |
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| | | intersections.sort(Comparator.comparingDouble(p -> |
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| | | distance(outsidePoint, p))); |
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| | | Point inter = intersections.get(0); |
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| | | |
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| | | // 只保留外部部分 |
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| | | if (startInside) { |
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| | | result.add(new PathSegment(inter, outsidePoint, true)); |
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| | | } else { |
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| | | result.add(new PathSegment(outsidePoint, inter, true)); |
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| | | } |
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| | | } |
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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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| | | /** |
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| | | * 重新连接路径段，形成连续弓字形路径 |
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| | | */ |
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| | | private static List<PathSegment> reconnectSegments(List<PathSegment> segments) { |
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| | | if (segments.isEmpty()) return new ArrayList<>(); |
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| | | |
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| | | List<PathSegment> reconnected = new ArrayList<>(); |
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| | | Point currentPos = segments.get(0).start; |
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| | | |
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| | | for (PathSegment seg : segments) { |
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| | | if (seg.isMowing) { |
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| | | // 割草段：检查是否需要添加空走段 |
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| | | if (distance(currentPos, seg.start) > 0.01) { |
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| | | reconnected.add(new PathSegment(currentPos, seg.start, false)); |
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| | | } |
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| | | reconnected.add(seg); |
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| | | currentPos = seg.end; |
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| | | } else { |
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| | | // 空走段直接添加 |
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| | | reconnected.add(seg); |
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| | | currentPos = seg.end; |
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| | | } |
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| | | } |
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| | | |
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| | | return reconnected; |
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| | | } |
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| | | |
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| | | /** |
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| | | * 生成原始扫描路径（无障碍物版本） |
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| | | */ |
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| | | private static List<PathSegment> generateGlobalScanPath( |
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| | | List<Point> polygon, double width, double angle, Point currentPos) { |
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| | | |
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| | | List<PathSegment> segments = new ArrayList<>(); |
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| | | List<Point> rotatedPoly = new ArrayList<>(); |
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| | | for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -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); |
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| | | maxY = Math.max(maxY, p.y); |
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| | | } |
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| | | |
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| | | boolean leftToRight = true; |
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| | | for (double y = minY + width/2; y <= maxY - width/2; y += width) { |
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| | | List<Double> xIntersections = getXIntersections(rotatedPoly, y); |
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| | | if (xIntersections.size() < 2) continue; |
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| | | Collections.sort(xIntersections); |
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| | | |
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| | | List<PathSegment> lineSegmentsInRow = new ArrayList<>(); |
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| | | for (int i = 0; i < xIntersections.size() - 1; i += 2) { |
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| | | Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle); |
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| | | Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle); |
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| | | lineSegmentsInRow.add(new PathSegment(pS, pE, true)); |
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| | | } |
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| | | |
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| | | if (!leftToRight) { |
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| | | Collections.reverse(lineSegmentsInRow); |
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| | | for (PathSegment s : lineSegmentsInRow) { |
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| | | Point temp = s.start; |
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| | | s.start = s.end; |
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| | | s.end = temp; |
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| | | } |
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| | | } |
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| | | |
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| | | for (PathSegment s : lineSegmentsInRow) { |
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| | | if (distance(currentPos, s.start) > 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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| | | leftToRight = !leftToRight; |
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| | | } |
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| | | |
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| | | return segments; |
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| | | } |
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| | | |
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| | | /** |
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| | | * 解析障碍物字符串 |
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| | | * 格式："(x1,y1;x2,y2)(x1,y1;x2,y2;x3,y3)" |
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| | | */ |
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| | | private static List<Obstacle> parseObstacles(String obstaclesStr) { |
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| | | List<Obstacle> obstacles = new ArrayList<>(); |
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| | | if (obstaclesStr == null || obstaclesStr.trim().isEmpty()) { |
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| | | return obstacles; |
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| | | } |
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| | | |
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| | | String trimmed = obstaclesStr.trim(); |
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| | | List<String> obstacleStrs = new ArrayList<>(); |
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| | | |
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| | | // 分割每个障碍物（用括号分隔） |
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| | | int start = trimmed.indexOf('('); |
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| | | while (start != -1) { |
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| | | int end = trimmed.indexOf(')', start); |
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| | | if (end == -1) break; |
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| | | |
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| | | String obsStr = trimmed.substring(start + 1, end); |
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| | | obstacleStrs.add(obsStr); |
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| | | start = trimmed.indexOf('(', end); |
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| | | } |
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| | | |
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| | | // 解析每个障碍物 |
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| | | for (String obsStr : obstacleStrs) { |
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| | | List<Point> points = new ArrayList<>(); |
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| | | String[] pairs = obsStr.split(";"); |
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| | | |
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| | | for (String pair : pairs) { |
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| | | String[] xy = pair.split(","); |
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| | | if (xy.length == 2) { |
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| | | points.add(new Point( |
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| | | Double.parseDouble(xy[0].trim()), |
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| | | Double.parseDouble(xy[1].trim()) |
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| | | )); |
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| | | } |
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| | | } |
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| | | |
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| | | if (points.size() == 2) { |
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| | | // 圆形障碍物：第一个点为圆心，第二个点为圆上一点 |
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| | | Point center = points.get(0); |
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| | | Point onCircle = points.get(1); |
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| | | double radius = distance(center, onCircle); |
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| | | obstacles.add(new Obstacle(center, radius)); |
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| | | } else if (points.size() > 2) { |
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| | | // 多边形障碍物 |
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| | | obstacles.add(new Obstacle(points)); |
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| | | } |
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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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| | | /** |
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| | | * 外扩障碍物（增加安全边距） |
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| | | */ |
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| | | private static List<Obstacle> expandObstacles(List<Obstacle> obstacles, double margin) { |
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| | | List<Obstacle> expanded = new ArrayList<>(); |
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| | | |
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| | | for (Obstacle obs : obstacles) { |
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| | | if (obs.isCircle()) { |
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| | | // 圆形：半径增加安全边距 |
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| | | expanded.add(new Obstacle(obs.center, obs.radius + margin)); |
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| | | } else { |
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| | | // 多边形：向外偏移（与边界内缩方向相反） |
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| | | List<Point> expandedPoints = getOutsetPolygon(obs.points, margin); |
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| | | expanded.add(new Obstacle(expandedPoints)); |
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| | | } |
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| | | } |
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| | | |
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| | | return expanded; |
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| | | } |
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| | | |
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| | | /** |
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| | | * 多边形外扩（与内缩方向相反） |
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| | | */ |
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| | | private static List<Point> getOutsetPolygon(List<Point> points, double margin) { |
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| | | // 这里使用简化的外扩方法：沿法线向外移动 |
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| | | List<Point> outset = new ArrayList<>(); |
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| | | int n = points.size(); |
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| | | |
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| | | for (int i = 0; i < n; i++) { |
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| | | Point pPrev = points.get((i - 1 + n) % n); |
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| | | Point pCurr = points.get(i); |
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| | | Point pNext = points.get((i + 1) % n); |
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| | | |
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| | | // 计算两个边的向量 |
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| | | double v1x = pCurr.x - pPrev.x, v1y = pCurr.y - pPrev.y; |
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| | | double v2x = pNext.x - pCurr.x, v2y = pNext.y - pCurr.y; |
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| | | |
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| | | // 计算法线（确保向外） |
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| | | double nx1 = -v1y, ny1 = v1x; |
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| | | double nx2 = -v2y, ny2 = v2x; |
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| | | |
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| | | // 归一化 |
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| | | double len1 = Math.hypot(nx1, ny1); |
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| | | double len2 = Math.hypot(nx2, ny2); |
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| | | if (len1 > 1e-6) { nx1 /= len1; ny1 /= len1; } |
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| | | if (len2 > 1e-6) { nx2 /= len2; ny2 /= len2; } |
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| | | |
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| | | // 计算平均法线方向 |
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| | | double nx = (nx1 + nx2) / 2; |
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| | | double ny = (ny1 + ny2) / 2; |
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| | | double len = Math.hypot(nx, ny); |
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| | | if (len > 1e-6) { |
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| | | nx /= len; |
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| | | ny /= len; |
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| | | } |
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| | | |
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| | | // 向外移动 |
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| | | outset.add(new Point( |
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| | | pCurr.x + nx * margin, |
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| | | pCurr.y + ny * margin |
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| | | )); |
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| | | } |
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| | | |
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| | | return outset; |
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| | | } |
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| | | |
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| | | /** |
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| | | * 障碍物类 |
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| | | */ |
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| | | private static class Obstacle { |
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| | | List<Point> points; // 多边形顶点（对圆形为空） |
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| | | Point center; // 圆心（仅对圆形有效） |
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| | | double radius; // 半径（仅对圆形有效） |
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| | | boolean isCircle; |
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| | | |
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| | | // 多边形构造函数 |
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| | | Obstacle(List<Point> points) { |
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| | | this.points = new ArrayList<>(points); |
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| | | this.isCircle = false; |
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| | | ensureCounterClockwise(this.points); // 确保顺时针（对障碍物是内部区域） |
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| | | } |
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| | | |
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| | | // 圆形构造函数 |
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| | | Obstacle(Point center, double radius) { |
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| | | this.center = new Point(center.x, center.y); |
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| | | this.radius = radius; |
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| | | this.isCircle = true; |
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| | | this.points = new ArrayList<>(); |
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| | | } |
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| | | |
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| | | // 判断点是否在障碍物内部 |
|---|
| | | boolean contains(Point p) { |
|---|
| | | if (isCircle) { |
|---|
| | | return distance(p, center) <= radius; |
|---|
| | | } else { |
|---|
| | | return isPointInPolygon(p, points); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 获取线段与障碍物的交点 |
|---|
| | | List<Point> getIntersections(PathSegment segment) { |
|---|
| | | List<Point> intersections = new ArrayList<>(); |
|---|
| | | |
|---|
| | | if (isCircle) { |
|---|
| | | // 线段与圆的交点 |
|---|
| | | double dx = segment.end.x - segment.start.x; |
|---|
| | | double dy = segment.end.y - segment.start.y; |
|---|
| | | double a = dx * dx + dy * dy; |
|---|
| | | double b = 2 * (dx * (segment.start.x - center.x) + |
|---|
| | | dy * (segment.start.y - center.y)); |
|---|
| | | double c = (segment.start.x - center.x) * (segment.start.x - center.x) + |
|---|
| | | (segment.start.y - center.y) * (segment.start.y - center.y) - |
|---|
| | | radius * radius; |
|---|
| | | |
|---|
| | | double discriminant = b * b - 4 * a * c; |
|---|
| | | if (discriminant >= 0) { |
|---|
| | | discriminant = Math.sqrt(discriminant); |
|---|
| | | for (int sign = -1; sign <= 1; sign += 2) { |
|---|
| | | double t = (-b + sign * discriminant) / (2 * a); |
|---|
| | | if (t >= 0 && t <= 1) { |
|---|
| | | intersections.add(new Point( |
|---|
| | | segment.start.x + t * dx, |
|---|
| | | segment.start.y + t * dy |
|---|
| | | )); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } else { |
|---|
| | | // 线段与多边形的交点 |
|---|
| | | for (int i = 0; i < points.size(); i++) { |
|---|
| | | Point p1 = points.get(i); |
|---|
| | | Point p2 = points.get((i + 1) % points.size()); |
|---|
| | | |
|---|
| | | Point inter = getLineIntersection( |
|---|
| | | segment.start, segment.end, p1, p2); |
|---|
| | | if (inter != null) { |
|---|
| | | intersections.add(inter); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | return intersections; |
|---|
| | | } |
|---|
| | | |
|---|
| | | boolean isCircle() { |
|---|
| | | return isCircle; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 判断点是否在多边形内部（射线法） |
|---|
| | | */ |
|---|
| | | private static boolean isPointInPolygon(Point p, List<Point> polygon) { |
|---|
| | | boolean inside = false; |
|---|
| | | for (int i = 0, j = polygon.size() - 1; i < polygon.size(); j = i++) { |
|---|
| | | Point pi = polygon.get(i); |
|---|
| | | Point pj = polygon.get(j); |
|---|
| | | |
|---|
| | | if (((pi.y > p.y) != (pj.y > p.y)) && |
|---|
| | | (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y) + pi.x)) { |
|---|
| | | inside = !inside; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | return inside; |
|---|
| | | } |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 计算两条线段的交点 |
|---|
| | | */ |
|---|
| | | private static Point getLineIntersection(Point p1, Point p2, Point p3, Point p4) { |
|---|
| | | double denom = (p1.x - p2.x) * (p3.y - p4.y) - (p1.y - p2.y) * (p3.x - p4.x); |
|---|
| | | if (Math.abs(denom) < 1e-6) return null; // 平行 |
|---|
| | | |
|---|
| | | double t = ((p1.x - p3.x) * (p3.y - p4.y) - (p1.y - p3.y) * (p3.x - p4.x)) / denom; |
|---|
| | | double u = -((p1.x - p2.x) * (p1.y - p3.y) - (p1.y - p2.y) * (p1.x - p3.x)) / denom; |
|---|
| | | |
|---|
| | | if (t >= 0 && t <= 1 && u >= 0 && u <= 1) { |
|---|
| | | return new Point( |
|---|
| | | p1.x + t * (p2.x - p1.x), |
|---|
| | | p1.y + t * (p2.y - p1.y) |
|---|
| | | ); |
|---|
| | | } |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 计算两点距离 |
|---|
| | | */ |
|---|
| | | private static double distance(Point p1, Point p2) { |
|---|
| | | return Math.hypot(p1.x - p2.x, p1.y - p2.y); |
|---|
| | | } |
|---|
| | | |
|---|
| | | // ============ 以下是从A代码复用的方法 ============ |
|---|
| | | |
|---|
| | | private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) { |
|---|
| | | List<Point> rotatedPoly = new ArrayList<>(); |
|---|
| | | for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle)); |
|---|
| | | double minY = Double.MAX_VALUE; |
|---|
| | | for (Point p : rotatedPoly) minY = Math.min(minY, p.y); |
|---|
| | | |
|---|
| | | double firstY = minY + width/2; |
|---|
| | | List<Double> xInter = getXIntersections(rotatedPoly, firstY); |
|---|
| | | if (xInter.isEmpty()) return polygon.get(0); |
|---|
| | | Collections.sort(xInter); |
|---|
| | | return rotatePoint(new Point(xInter.get(0), firstY), angle); |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) { |
|---|
| | | int bestIdx = 0; |
|---|
| | | double minDist = Double.MAX_VALUE; |
|---|
| | | for (int i = 0; i < boundary.size(); i++) { |
|---|
| | | double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y); |
|---|
| | | if (d < minDist) { minDist = d; bestIdx = i; } |
|---|
| | | } |
|---|
| | | List<Point> aligned = new ArrayList<>(); |
|---|
| | | for (int i = 0; i < boundary.size(); i++) { |
|---|
| | | aligned.add(boundary.get((bestIdx + i) % boundary.size())); |
|---|
| | | } |
|---|
| | | return aligned; |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) { |
|---|
| | | List<Double> xIntersections = new ArrayList<>(); |
|---|
| | | for (int i = 0; i < rotatedPoly.size(); i++) { |
|---|
| | | Point p1 = rotatedPoly.get(i); |
|---|
| | | Point p2 = rotatedPoly.get((i + 1) % rotatedPoly.size()); |
|---|
| | | if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) { |
|---|
| | | double x = p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y); |
|---|
| | | xIntersections.add(x); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | return xIntersections; |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static double findOptimalAngle(List<Point> polygon) { |
|---|
| | | double bestAngle = 0; |
|---|
| | | double minHeight = Double.MAX_VALUE; |
|---|
| | | for (int i = 0; i < polygon.size(); i++) { |
|---|
| | | Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size()); |
|---|
| | | double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x); |
|---|
| | | double h = calculateHeightAtAngle(polygon, angle); |
|---|
| | | if (h < minHeight) { minHeight = h; bestAngle = angle; } |
|---|
| | | } |
|---|
| | | return bestAngle; |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static double calculateHeightAtAngle(List<Point> poly, double angle) { |
|---|
| | | double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE; |
|---|
| | | for (Point p : poly) { |
|---|
| | | Point rp = rotatePoint(p, -angle); |
|---|
| | | minY = Math.min(minY, rp.y); maxY = Math.max(maxY, rp.y); |
|---|
| | | } |
|---|
| | | return maxY - minY; |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static List<Point> getInsetPolygon(List<Point> points, double margin) { |
|---|
| | | List<Point> result = new ArrayList<>(); |
|---|
| | | int n = points.size(); |
|---|
| | | for (int i = 0; i < n; i++) { |
|---|
| | | Point pPrev = points.get((i - 1 + n) % n); |
|---|
| | | Point pCurr = points.get(i); |
|---|
| | | Point pNext = points.get((i + 1) % n); |
|---|
| | | |
|---|
| | | double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y; |
|---|
| | | double l1 = Math.hypot(d1x, d1y); |
|---|
| | | double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y; |
|---|
| | | double l2 = Math.hypot(d2x, d2y); |
|---|
| | | |
|---|
| | | if (l1 < 1e-6 || l2 < 1e-6) continue; |
|---|
| | | |
|---|
| | | double n1x = -d1y / l1, n1y = d1x / l1; |
|---|
| | | double n2x = -d2y / l2, n2y = d2x / l2; |
|---|
| | | |
|---|
| | | double bisectorX = n1x + n2x, bisectorY = n1y + n2y; |
|---|
| | | double bLen = Math.hypot(bisectorX, bisectorY); |
|---|
| | | if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; } |
|---|
| | | else { bisectorX /= bLen; bisectorY /= bLen; } |
|---|
| | | |
|---|
| | | double cosHalfAngle = n1x * bisectorX + n1y * bisectorY; |
|---|
| | | double dist = margin / Math.max(cosHalfAngle, 0.1); |
|---|
| | | |
|---|
| | | dist = Math.min(dist, margin * 5); |
|---|
| | | |
|---|
| | | result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist)); |
|---|
| | | } |
|---|
| | | return result; |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static Point rotatePoint(Point p, double angle) { |
|---|
| | | double cos = Math.cos(angle), sin = Math.sin(angle); |
|---|
| | | return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos); |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static void ensureCounterClockwise(List<Point> points) { |
|---|
| | | double sum = 0; |
|---|
| | | for (int i = 0; i < points.size(); i++) { |
|---|
| | | Point p1 = points.get(i), p2 = points.get((i + 1) % points.size()); |
|---|
| | | sum += (p2.x - p1.x) * (p2.y + p1.y); |
|---|
| | | } |
|---|
| | | if (sum > 0) Collections.reverse(points); |
|---|
| | | } |
|---|
| | | |
|---|
| | | private static List<Point> parseCoordinates(String coordinates) { |
|---|
| | | List<Point> points = new ArrayList<>(); |
|---|
| | | String[] pairs = coordinates.split(";"); |
|---|
| | | for (String pair : pairs) { |
|---|
| | | String[] xy = pair.split(","); |
|---|
| | | if (xy.length == 2) points.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1]))); |
|---|
| | | } |
|---|
| | | if (points.size() > 1 && points.get(0).equals(points.get(points.size()-1))) points.remove(points.size()-1); |
|---|
| | | return points; |
|---|
| | | } |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 打印输出路径坐标到控制台 |
|---|
| | | */ |
|---|
| | | private static void printPathCoordinates(List<PathSegment> path) { |
|---|
| | | if (path == null || path.isEmpty()) { |
|---|
| | | System.out.println("路径为空"); |
|---|
| | | return; |
|---|
| | | } |
|---|
| | | |
|---|
| | | System.out.println("========== 路径坐标输出 =========="); |
|---|
| | | System.out.println("总路径段数: " + path.size()); |
|---|
| | | System.out.println(); |
|---|
| | | System.out.println("路径坐标序列 (格式: x,y;x,y;...):"); |
|---|
| | | |
|---|
| | | StringBuilder sb = new StringBuilder(); |
|---|
| | | for (int i = 0; i < path.size(); i++) { |
|---|
| | | PathSegment segment = path.get(i); |
|---|
| | | if (i == 0) { |
|---|
| | | // 第一个段的起点 |
|---|
| | | sb.append(String.format("%.2f,%.2f", segment.start.x, segment.start.y)); |
|---|
| | | } |
|---|
| | | // 每个段的终点 |
|---|
| | | sb.append(";"); |
|---|
| | | sb.append(String.format("%.2f,%.2f", segment.end.x, segment.end.y)); |
|---|
| | | } |
|---|
| | | |
|---|
| | | System.out.println(sb.toString()); |
|---|
| | | System.out.println(); |
|---|
| | | System.out.println("详细路径信息:"); |
|---|
| | | for (int i = 0; i < path.size(); i++) { |
|---|
| | | PathSegment segment = path.get(i); |
|---|
| | | String type = segment.isMowing ? "割草" : "空走"; |
|---|
| | | System.out.println(String.format("段 %d [%s]: (%.2f,%.2f) -> (%.2f,%.2f)", |
|---|
| | | i + 1, type, segment.start.x, segment.start.y, segment.end.x, segment.end.y)); |
|---|
| | | } |
|---|
| | | System.out.println("=================================="); |
|---|
| | | } |
|---|
| | | |
|---|
| | | public static class Point { |
|---|
| | | public double x, y; |
|---|
| | | public Point(double x, double y) { this.x = x; this.y = y; } |
|---|
| | | @Override |
|---|
| | | public boolean equals(Object o) { |
|---|
| | | if (!(o instanceof Point)) return false; |
|---|
| | | Point p = (Point) o; |
|---|
| | | return Math.abs(x - p.x) < 1e-4 && Math.abs(y - p.y) < 1e-4; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | public static class PathSegment { |
|---|
| | | public Point start, end; |
|---|
| | | public boolean isMowing; |
|---|
| | | public PathSegment(Point s, Point e, boolean m) { |
|---|
| | | this.start = s; |
|---|
| | | this.end = e; |
|---|
| | | this.isMowing = m; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
