障碍物预览增加了序号

张世豪

6 天以前 9d171a3c3a57ea54454d7e9d64dec213aa885a2c

 src/bianjie/BoundaryAlgorithm.java

@@ -488,19 +488,22 @@
        if (!optimized.get(0).equals(optimized.get(optimized.size() - 1))) {
            Coordinate first = optimized.get(0);
            Coordinate last = optimized.get(optimized.size() - 1);
            double closingDistance = calculateDistance(first, last);
            
            double closingDistance = calculateDistance(last, first);

            if (closingDistance > params.interval) {
                // 如果首尾距离较远，添加中间点
                List<Coordinate> interpolated = interpolateBoundary(
                    List.of(last, first), params.interval
                );
                optimized.addAll(interpolated.subList(1, interpolated.size() - 1));
                int segments = (int) Math.ceil(closingDistance / params.interval);
                for (int i = 1; i < segments; i++) {
                    double ratio = (double) i / segments;
                    Coordinate interpolatedPoint = interpolate(last, first, ratio);
                    if (!interpolatedPoint.equals(last)) {
                        optimized.add(interpolatedPoint);
                    }
                }
            }
            optimized.add(first);
        }
        
        return optimized;

        return removeConsecutiveDuplicates(optimized);
    }

    // 道格拉斯-普克算法
@@ -580,6 +583,26 @@
        return interpolated;
    }

    private List<Coordinate> removeConsecutiveDuplicates(List<Coordinate> points) {
        if (points == null || points.isEmpty()) {
            return points;
        }

        List<Coordinate> cleaned = new ArrayList<>();
        Coordinate previous = null;
        for (Coordinate point : points) {
            if (previous == null || !point.equals(previous)) {
                cleaned.add(point);
                previous = point;
            }
        }

        if (!cleaned.isEmpty() && !cleaned.get(0).equals(cleaned.get(cleaned.size() - 1))) {
            cleaned.add(cleaned.get(0));
        }
        return cleaned;
    }

    // 线性插值
    private Coordinate interpolate(Coordinate p1, Coordinate p2, double ratio) {
        double x = p1.x + (p2.x - p1.x) * ratio;