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
---
src/gecaoji/Gecaoji.java | 13 ++++++++-----
1 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/src/gecaoji/Gecaoji.java b/src/gecaoji/Gecaoji.java
index d47353c..18493ec 100644
--- a/src/gecaoji/Gecaoji.java
+++ b/src/gecaoji/Gecaoji.java
@@ -62,7 +62,7 @@
double x = parseCoordinate(device.getRealtimeX());
double y = parseCoordinate(device.getRealtimeY());
- double heading = parseHeading(device.getHeading());
+ double heading = parseHeading(device.getYaw());
if (Double.isNaN(x) || Double.isNaN(y)) {
// Keep showing the last known mower position when temporary sensor glitches occur.
return;
@@ -151,7 +151,8 @@
double iconHeight = icon.getHeight(null);
double maxSide = Math.max(iconWidth, iconHeight);
double scaleFactor = worldSize / Math.max(maxSide, MIN_SCALE);
- double rotationRadians = Math.toRadians(-headingDegrees);
+ // 鍓茶崏鏈哄浘鏍囬粯璁ゆ湞鍗楋紝Yaw=0琛ㄧず姝ｅ寳锛岄渶瑕佹棆杞�180搴�
+ double rotationRadians = Math.toRadians(headingDegrees + 180);
AffineTransform original = g2d.getTransform();
AffineTransform transformed = new AffineTransform(original);
@@ -176,9 +177,11 @@
g2d.fill(fallbackShape);
g2d.setColor(Color.WHITE);
g2d.draw(fallbackShape);
- double rotationRadians = Math.toRadians(-headingDegrees);
- double lineLength = radius;
- double dx = lineLength * Math.sin(rotationRadians);
+ // Yaw=0琛ㄧず姝ｅ寳(0, -1)锛屼娇鐢╯in/cos璁＄畻鍧愭爣
+ // sin(180)=0, cos(180)=-1 -> 姝ｅ寳
+ double rotationRadians = Math.toRadians(180 - headingDegrees);
+ double lineLength = radius;
+ double dx = lineLength * Math.sin(rotationRadians);
double dy = lineLength * Math.cos(rotationRadians);
g2d.drawLine(
(int) Math.round(position.x),
--
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