From 0803b041d32a284ee8585914618219ecae82b21f Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期五, 26 十二月 2025 15:25:27 +0800
Subject: [PATCH] 增加了异形有障碍物路径算法

---
 dikuai.properties |   45 +++++++++++++++++++++++++--------------------
 1 files changed, 25 insertions(+), 20 deletions(-)

diff --git a/dikuai.properties b/dikuai.properties
index de8c6cd..fce9d72 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,21 +1,26 @@
 #Dikuai Properties
-#Thu Dec 04 17:33:00 CST 2025
-DK-001.angleThreshold=-1 
-DK-001.baseStationCoordinates=3949.84110064,N,11616.74587312,E 
-DK-001.boundaryCoordinates=0,0;0.45,-2.86;1.81,-6.44;21.93,-40.79;27.22,-50.65;31.66,-54.38;33.17,-54.12;46.44,-47.04;56.61,-40.86;57.42,-39.55;53.19,-31.57;32.88,2.52;31.55,4.1;29.14,4.33;0,0
-DK-001.boundaryOriginalCoordinates=-1
-DK-001.boundaryPointInterval=-1
-DK-001.createTime=-1
-DK-001.intelligentSceneAnalysis=-1
-DK-001.landArea=300
-DK-001.landName=鍓嶉櫌鑽夊潽
-DK-001.landNumber=DK-001
-DK-001.mowingPattern=-1
-DK-001.mowingTrack=-114.777,-24.033;-110.353,-30.889;-110.577,-30.916;-110.900,-30.955;-113.494,-31.968;-115.965,-32.890;-118.052,-33.648;-119.305,-34.099;-120.335,-34.349;-119.759,-34.271;-119.172,-34.103;-118.842,-34.017;-120.023,-34.112;-120.797,-34.015;-121.299,-33.602;-122.058,-33.137;-121.986,-32.878;-121.717,-32.606;-121.976,-32.489;-122.326,-32.521;-122.783,-32.548;-122.804,-32.405;-122.730,-32.551;-122.859,-32.641;-123.052,-32.678;-123.206,-32.624;-123.330,-32.587;-123.430,-32.576;-123.553,-32.345;-123.522,-32.133;-123.415,-31.958;-123.224,-31.858;-122.894,-31.881;-122.644,-31.855;-122.406,-31.794;-122.031,-31.745;-121.631,-31.747;-121.197,-31.740;-120.726,-31.679;-120.219,-31.530;-119.759,-31.384;-119.386,-31.248;-118.950,-31.129;-118.423,-30.945;-117.629,-30.704;-116.709,-30.480;-115.780,-30.291;-114.842,-30.113;-113.984,-30.004;-113.262,-29.882;-112.661,-29.719;-112.123,-29.476;-111.630,-29.132;-111.119,-28.824;-110.551,-28.603;-110.146,-28.480;-109.955,-28.296;-109.870,-28.116;-109.831,-27.988;-109.943,-28.021;-110.082,-28.019;-110.145,-27.903;-109.994,-27.999;-109.871,-28.374;-109.809,-28.832;-109.643,-28.754;-109.240,-28.672;-109.059,-28.789;-108.880,-29.031;-108.732,-29.337;-108.545,-29.562;-108.297,-29.718;-107.996,-29.800;-107.791,-29.888;-107.693,-29.987;-107.600,-30.067;-107.490,-30.040;-107.503,-30.189;-107.602,-30.308;-107.458,-30.222;-107.358,-30.206;-107.227,-30.238;-107.063,-30.285;-106.897,-30.382;-106.796,-30.473;-106.681,-30.505;-106.852,-30.638;-107.050,-30.727;-107.280,-30.807;-107.390,-30.835;-107.522,-30.900;-107.732,-30.994;-107.984,-31.126;-108.183,-31.220;-108.294,-31.287;-108.483,-31.394;-108.640,-31.471;-108.860,-31.592;-109.100,-31.724;-109.307,-31.840;-109.481,-31.915;-109.640,-31.959;-109.767,-32.008;-109.911,-32.072;-110.093,-32.137;-110.272,-32.213;-110.452,-32.318;-110.663,-32.371;-110.932,-32.548;-111.248,-32.772;-111.628,-33.002;-112.036,-33.226;-112.465,-33.439;-112.868,-33.644;-113.256,-33.833;-114.981,-31.630;-117.183,-30.084;-120.002,-29.318;-123.358,-29.117;-123.733,-29.214;-124.006,-29.306;-124.259,-29.345;-124.453,-29.335;-127.077,-28.924;-135.898,-26.760;-136.302,-26.931;-136.751,-27.149;-137.105,-27.365;-136.847,-26.907;-136.939,-27.068;-137.067,-27.121;-137.233,-27.159;-137.385,-27.161;-137.518,-27.197;-137.589,-27.115;-137.783,-27.031;-138.103,-27.047;-138.033,-26.949;-137.806,-26.824;-137.531,-26.644;-137.255,-26.524;-137.013,-26.464;-136.824,-26.434;-136.663,-26.411;-136.487,-26.369;-136.271,-26.276;-136.041,-26.143;-135.838,-26.042;-135.691,-25.950;-135.763,-25.857;-135.927,-25.825;-136.100,-25.821;-136.197,-25.784;-136.050,-25.737;-136.149,-25.619;-136.216,-25.536;-136.314,-25.584;-136.187,-25.542;-136.095,-25.488;-135.965,-25.472;-135.752,-25.473;-135.581,-25.525;-135.645,-25.708;-135.839,-25.851;-136.109,-26.001;-136.449,-26.178;-136.802,-26.336;-137.124,-26.437;-137.454,-26.549;-137.730,-26.665;-138.044,-26.784;-138.209,-26.794;-138.651,-26.878;-138.878,-26.895;-138.841,-26.800;-138.729,-26.631;-138.577,-26.473;-138.382,-26.310;-138.238,-26.176;-138.148,-26.061;-138.038,-26.021;-138.145,-26.035;-138.724,-26.011;-139.746,-25.880;-137.880,-26.205;-138.735,-26.226;-139.498,-26.303;-139.991,-26.334;-140.360,-26.346;-140.566,-26.301;-142.470,-25.570;-142.039,-25.377;-141.785,-25.267;-141.614,-25.166;-141.509,-25.122;-141.469,-24.948;-141.405,-24.832;-141.369,-24.727;-141.334,-24.614;-141.356,-24.503;-141.446,-24.445;-141.531,-24.596;-141.687,-24.602;-141.812,-24.610;-141.941,-24.603;-142.089,-24.612;-142.238,-24.660;-142.356,-24.733;-142.480,-24.772;-142.630,-24.798;-142.875,-24.856;-143.165,-24.888;-143.411,-24.918;-143.572,-24.986;-143.692,-25.077;-143.764,-25.173;-143.872,-25.178;-142.853,-25.945;-142.949,-25.819;-143.034,-25.645;-143.043,-25.380;-142.959,-25.059;-142.736,-24.805;-142.364,-24.551;-141.926,-24.286;-141.449,-24.104;-140.932,-23.887;-140.450,-23.617;-140.048,-23.308;-139.718,-23.031;-139.401,-22.861;-139.119,-22.790;-138.846,-22.778;-138.647,-22.817;-138.487,-22.859;-138.349,-22.905;-138.237,-22.944;-137.476,-22.963;-137.344,-23.087;-137.453,-23.039;-137.572,-22.977;-137.703,-22.971;-137.874,-22.961;-138.054,-22.948;-138.171,-22.948;-138.272,-22.918;-138.253,-23.024;-138.223,-23.158;-138.114,-23.118;-137.886,-23.077;-137.471,-22.950;-136.769,-22.799;-136.424,-22.719;-136.172,-22.662;-136.026,-22.640;-136.250,-22.700;-136.355,-22.716;-135.978,-22.703;-135.844,-22.697;-135.740,-22.658;-135.851,-22.673;-135.721,-22.646;-135.563,-22.596;-135.455,-22.594;-135.288,-22.585;-135.025,-22.558;-134.535,-22.676;-134.105,-22.802;-133.644,-22.828;-133.298,-22.856;-132.917,-22.765;-132.504,-22.586;-131.992,-22.498;-131.504,-22.452;-131.148,-22.388;-130.950,-22.343;-130.815,-22.320;-130.037,-22.363;-129.159,-22.106;-128.284,-22.267;-127.885,-22.088;-127.734,-21.770;-127.614,-21.492;-127.357,-21.459;-127.042,-21.434;-126.610,-21.436;-126.126,-21.441;-125.666,-21.454;-125.552,-21.433;-125.416,-21.401;-125.815,-21.472;-126.286,-21.558;-126.684,-21.626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-DK-001.mowingWidth=150
-DK-001.obstacleCoordinates=-3.74,-0.68;-102.65,-10.97;-181.14,-1.46;-58.05,14.38
-DK-001.obstacleOriginalCoordinates=3949.8407343,N,11616.7432457,E;3949.8351859,N,11616.6738272,E;3949.8403113,N,11616.6187363,E;3949.8488492,N,11616.7051305,E
-DK-001.plannedPath=1.17,-2.58;30.94,-53.42;30.94,-53.42;32.69,-53.44;32.69,-53.44;1.69,-0.51;1.69,-0.51;3.29,-0.27;3.29,-0.27;34.06,-52.80;34.06,-52.80;35.38,-52.09;35.38,-52.09;4.89,-0.03;4.89,-0.03;6.49,0.21;6.49,0.21;36.70,-51.38;36.70,-51.38;38.03,-50.68;38.03,-50.68;8.09,0.44;8.09,0.44;9.68,0.68;9.68,0.68;39.35,-49.97;39.35,-49.97;40.68,-49.26;40.68,-49.26;11.28,0.92;11.28,0.92;12.88,1.16;12.88,1.16;42.00,-48.56;42.00,-48.56;43.33,-47.85;43.33,-47.85;14.48,1.39;14.48,1.39;16.08,1.63;16.08,1.63;44.65,-47.14;44.65,-47.14;45.98,-46.44;45.98,-46.44;17.68,1.87;17.68,1.87;19.28,2.11;19.28,2.11;47.26,-45.66;47.26,-45.66;48.54,-44.88;48.54,-44.88;20.88,2.34;20.88,2.34;22.48,2.58;22.48,2.58;49.82,-44.11;49.82,-44.11;51.11,-43.33;51.11,-43.33;24.08,2.82;24.08,2.82;25.68,3.06;25.68,3.06;52.39,-42.55;52.39,-42.55;53.67,-41.77;53.67,-41.77;27.28,3.29;27.28,3.29;28.87,3.53;28.87,3.53;54.95,-40.99;54.95,-40.99;56.18,-40.12;56.18,-40.12;30.67,3.43\# 瑙勫垝璺緞鍧愭爣
-DK-001.returnPointCoordinates=-1
-DK-001.updateTime=2025-12-03 18\:54\:07
-DK-001.userId=-1
+#Fri Dec 26 15:20:50 CST 2025
+LAND1.angleThreshold=-1
+LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
+LAND1.boundaryCoordinates=4.30,87.65;-2.36,-65.51;44.25,-66.72;49.70,-14.05;98.13,-15.87;99.34,-69.75;137.48,-67.93;134.45,90.07;4.30,87.65
+LAND1.boundaryOriginalCoordinates=39.831522,116.279873,49.25;39.831524,116.279878,49.25;39.831525,116.279878,49.24;39.831524,116.279912,49.30;39.831524,116.279911,49.29;39.831523,116.279911,49.23;39.831521,116.279915,49.31;39.831517,116.279925,49.34;39.831514,116.279940,49.30;39.831514,116.279957,49.28;39.831516,116.279974,49.28;39.831518,116.279991,49.29;39.831521,116.280008,49.24;39.831524,116.280025,49.30;39.831526,116.280042,49.24;39.831529,116.280059,49.29;39.831529,116.280076,49.26;39.831530,116.280093,49.32;39.831531,116.280110,49.28;39.831533,116.280127,49.28;39.831535,116.280144,49.26;39.831539,116.280161,49.27;39.831544,116.280175,49.25;39.831551,116.280190,49.24;39.831558,116.280204,49.26;39.831566,116.280219,49.26;39.831574,116.280234,49.22;39.831583,116.280248,49.24;39.831591,116.280260,49.24;39.831600,116.280272,49.23;39.831608,116.280285,49.18;39.831615,116.280298,49.12;39.831618,116.280312,49.11;39.831618,116.280328,49.12;39.831615,116.280342,49.15;39.831610,116.280356,49.21;39.831602,116.280369,49.23;39.831592,116.280379,49.25;39.831581,116.280388,49.25;39.831569,116.280394,49.19;39.831559,116.280395,49.23;39.831552,116.280387,49.28;39.831547,116.280373,49.32;39.831544,116.280357,49.33;39.831541,116.280340,49.29;39.831539,116.280324,49.27;39.831536,116.280307,49.24;39.831534,116.280290,49.25;39.831531,116.280273,49.26;39.831527,116.280257,49.28;39.831522,116.280242,49.21;39.831514,116.280232,49.28;39.831504,116.280229,49.24;39.831491,116.280230,49.33;39.831478,116.280233,49.34;39.831466,116.280236,49.31;39.831454,116.280239,49.31;39.831441,116.280242,49.26;39.831429,116.280244,49.23;39.831416,116.280247,49.25;39.831402,116.280250,49.22;39.831389,116.280253,49.25;39.831376,116.280256,49.26;39.831364,116.280258,49.24;39.831351,116.280261,49.25;39.831338,116.280265,49.26;39.831324,116.280268,49.20;39.831311,116.280271,49.16;39.831298,116.280274,49.17;39.831285,116.280277,49.22;39.831271,116.280278,49.16;39.831261,116.280273,49.23
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+LAND1.intelligentSceneAnalysis=-1
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+LAND1.landName=123
+LAND1.landNumber=LAND1
+LAND1.mowingBladeWidth=0.51
+LAND1.mowingOverlapDistance=0.06
+LAND1.mowingPattern=骞宠绾�
+LAND1.mowingSafetyDistance=0.53
+LAND1.mowingTrack=-1
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--
Gitblit v1.10.0