异形有障碍物路径规划没完成

826220679@qq.com

7 小时以前 cbfd1df513c473dd5550d78740c92fc1677b6e9b

 src/lujing/MowingPathGenerationPage.java

@@ -609,12 +609,14 @@
                // 无障碍物的情况
                if (grassType == 1) {
                    // 凸形地块，无障碍物 -> 调用 AoxinglujingNoObstacle
                    System.out.println("调用算法: 凸形无障碍物, 类名: AoxinglujingNoObstacle");
                    List<AoxinglujingNoObstacle.PathSegment> segments = 
                        AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
                    generated = formatAoxingPathSegments(segments);
                } else if (grassType == 2) {
                    // 异形地块，无障碍物 -> 调用 YixinglujingNoObstacle
                    // 调用 YixinglujingNoObstacle.planPath 获取路径段列表
                    System.out.println("调用算法: 异形无障碍物, 类名: YixinglujingNoObstacle");
                    List<YixinglujingNoObstacle.PathSegment> segments = 
                        YixinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
                    // 格式化路径段列表为字符串
@@ -625,6 +627,7 @@
                        JOptionPane.showMessageDialog(parentComponent, "无法判断地块类型，尝试按凸形地块处理", 
                            "提示", JOptionPane.WARNING_MESSAGE);
                    }
                    System.out.println("调用算法: 无法判断类型(默认凸形无障碍物), 类名: AoxinglujingNoObstacle");
                    List<AoxinglujingNoObstacle.PathSegment> segments = 
                        AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
                    generated = formatAoxingPathSegments(segments);
@@ -634,12 +637,14 @@
                if (grassType == 1) {
                    // 凸形地块，有障碍物 -> 调用 AoxinglujingHaveObstacel
                    // 传入参数：boundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
                    System.out.println("调用算法: 凸形有障碍物, 类名: AoxinglujingHaveObstacel");
                    List<AoxinglujingHaveObstacel.PathSegment> segments = 
                        AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatAoxingHaveObstaclePathSegments(segments);
                } else if (grassType == 2) {
                    // 异形地块，有障碍物 -> 调用 YixinglujingHaveObstacel
                    // 传入参数：boundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
                    System.out.println("调用算法: 异形有障碍物, 类名: YixinglujingHaveObstacel");
                    List<YixinglujingHaveObstacel.PathSegment> segments = 
                        YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatYixingHaveObstaclePathSegments(segments);
@@ -649,6 +654,7 @@
                        JOptionPane.showMessageDialog(parentComponent, "无法判断地块类型，尝试按凸形地块处理", 
                            "提示", JOptionPane.WARNING_MESSAGE);
                    }
                    System.out.println("调用算法: 无法判断类型(默认凸形有障碍物), 类名: AoxinglujingHaveObstacel");
                    List<AoxinglujingHaveObstacel.PathSegment> segments = 
                        AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatAoxingHaveObstaclePathSegments(segments);