From 1175f5fbe8fd832943880bfc37c0e2a451a0688a Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期四, 25 十二月 2025 19:34:38 +0800
Subject: [PATCH] 删除了几个类优化了路径生成的逻辑
---
src/lujing/AoxinglujingHaveObstacel.java | 316 ++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 301 insertions(+), 15 deletions(-)
diff --git a/src/lujing/AoxinglujingHaveObstacel.java b/src/lujing/AoxinglujingHaveObstacel.java
index 9cf387b..5e2f046 100644
--- a/src/lujing/AoxinglujingHaveObstacel.java
+++ b/src/lujing/AoxinglujingHaveObstacel.java
@@ -1,23 +1,309 @@
package lujing;
+import java.util.ArrayList;
+import java.util.Collections;
import java.util.List;
/**
- * 鏈夐殰纰嶇墿鍑稿舰鍦板潡璺緞瑙勫垝绫�
+ * 鍑稿舰鑽夊湴璺緞瑙勫垝 (閬块殰淇鐗�)
+ * 淇閲嶇偣锛氬己鍖栬法琛屽強閬块殰鍚庣殑璺緞杩炶疮鎬э紝纭繚姣忎竴娈靛垏鍓查兘鏈夋樉寮忕殑绉诲姩璺緞杩炴帴銆�
*/
public class AoxinglujingHaveObstacel {
-
- /**
- * 鐢熸垚璺緞
- * @param boundaryCoordsStr 鍦板潡杈圭晫鍧愭爣瀛楃涓� "x1,y1;x2,y2;..."
- * @param obstacleCoordsStr 闅滅鐗╁潗鏍囧瓧绗︿覆
- * @param mowingWidthStr 鍓茶崏瀹藉害瀛楃涓诧紝濡� "0.34"
- * @param safetyMarginStr 瀹夊叏杈硅窛瀛楃涓诧紝濡� "0.2"
- * @return 璺緞鍧愭爣瀛楃涓诧紝鏍煎紡 "x1,y1;x2,y2;..."
- */
- public static String planPath(String boundaryCoordsStr, String obstacleCoordsStr, String mowingWidthStr, String safetyMarginStr) {
- // TODO: 瀹炵幇鍑稿舰鍦板潡鏈夐殰纰嶇墿璺緞瑙勫垝绠楁硶
- // 鐩墠浣跨敤榛樿鏂规硶浣滀负涓存椂瀹炵幇
- throw new UnsupportedOperationException("AoxinglujingHaveObstacel.planPath 灏氭湭瀹炵幇");
+
+ private static final double EPSILON = 1e-6;
+
+ public static class Point {
+ public double x, y;
+ public Point(double x, double y) { this.x = x; this.y = y; }
+ @Override
+ public String toString() { return String.format("%.6f,%.6f", x, y); }
}
-}
+
+ public static class PathSegment {
+ public Point start, end;
+ public boolean isMowing;
+ public PathSegment(Point start, Point end, boolean isMowing) {
+ this.start = start; this.end = end; this.isMowing = isMowing;
+ }
+ }
+
+ public abstract static class Obstacle {
+ public abstract boolean isInside(Point p);
+ public abstract List<Double> getIntersectionsX(double y, double angle);
+ }
+
+ public static class PolygonObstacle extends Obstacle {
+ public List<Point> points;
+ public PolygonObstacle(List<Point> points) { this.points = points; }
+ @Override
+ public boolean isInside(Point p) {
+ boolean result = false;
+ for (int i = 0, j = points.size() - 1; i < points.size(); j = i++) {
+ if ((points.get(i).y > p.y) != (points.get(j).y > p.y) &&
+ (p.x < (points.get(j).x - points.get(i).x) * (p.y - points.get(i).y) / (points.get(j).y - points.get(i).y) + points.get(i).x)) {
+ result = !result;
+ }
+ }
+ return result;
+ }
+ @Override
+ public List<Double> getIntersectionsX(double y, double angle) {
+ List<Point> rotated = rotatePolygon(this.points, -angle);
+ List<Double> xInts = new ArrayList<>();
+ for (int i = 0; i < rotated.size(); i++) {
+ Point p1 = rotated.get(i), p2 = rotated.get((i + 1) % rotated.size());
+ if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
+ xInts.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
+ }
+ }
+ return xInts;
+ }
+ }
+
+ public static class CircleObstacle extends Obstacle {
+ public Point center;
+ public double radius;
+ public CircleObstacle(Point center, double radius) { this.center = center; this.radius = radius; }
+ @Override
+ public boolean isInside(Point p) { return Math.hypot(p.x - center.x, p.y - center.y) <= radius + EPSILON; }
+ @Override
+ public List<Double> getIntersectionsX(double y, double angle) {
+ List<Double> xInts = new ArrayList<>();
+ Point rCenter = rotatePoint(center, -angle);
+ double dy = Math.abs(y - rCenter.y);
+ if (dy < radius) {
+ double dx = Math.sqrt(radius * radius - dy * dy);
+ xInts.add(rCenter.x - dx); xInts.add(rCenter.x + dx);
+ }
+ return xInts;
+ }
+ }
+
+ public static List<PathSegment> planPath(String boundaryStr, String obstacleStr, String widthStr, String marginStr) {
+ List<Point> boundary = parseCoords(boundaryStr);
+ double width = Double.parseDouble(widthStr);
+ double margin = Double.parseDouble(marginStr);
+ List<Obstacle> obstacles = parseObstacles(obstacleStr, margin);
+ return planPathCore(boundary, obstacles, width, margin);
+ }
+
+ private static List<PathSegment> planPathCore(List<Point> boundary, List<Obstacle> obstacles, double width, double margin) {
+ if (boundary.size() < 3) return new ArrayList<>();
+ ensureCCW(boundary);
+ List<Point> workArea = shrinkPolygon(boundary, margin);
+ if (workArea.size() < 3) return new ArrayList<>();
+
+ double bestAngle = findOptimalScanAngle(workArea);
+ Point firstScanStart = getFirstScanStartPoint(workArea, bestAngle, width);
+ List<Point> alignedWorkArea = alignBoundaryToStart(workArea, firstScanStart);
+
+ List<PathSegment> finalPath = new ArrayList<>();
+ // 1. 娣诲姞鍥磋竟璺緞
+ for (int i = 0; i < alignedWorkArea.size(); i++) {
+ finalPath.add(new PathSegment(alignedWorkArea.get(i), alignedWorkArea.get((i + 1) % alignedWorkArea.size()), true));
+ }
+
+ // 2. 鐢熸垚鍐呴儴寮撳瓧褰� (寮哄寲杩炴帴閫昏緫)
+ Point currentPos = alignedWorkArea.get(0);
+ List<PathSegment> zigZag = generateFixedZigZag(workArea, obstacles, bestAngle, width, currentPos);
+ finalPath.addAll(zigZag);
+
+ return finalPath;
+ }
+
+ private static List<PathSegment> generateFixedZigZag(List<Point> polygon, List<Obstacle> obstacles, double angle, double width, Point startPoint) {
+ List<PathSegment> result = new ArrayList<>();
+ List<Point> rotatedPoly = rotatePolygon(polygon, -angle);
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ for (Point p : rotatedPoly) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
+
+ Point currentPos = startPoint;
+ boolean leftToRight = true;
+
+ for (double y = minY + width; y < maxY - width/2; y += width) {
+ List<Double> polyInts = getXIntersections(rotatedPoly, y);
+ if (polyInts.size() < 2) continue;
+ Collections.sort(polyInts);
+ double xMin = polyInts.get(0), xMax = polyInts.get(polyInts.size() - 1);
+
+ // 鏀堕泦鎵�鏈夊垎鍓茬偣锛堣竟鐣� + 闅滅鐗╀氦鐐癸級
+ List<Double> splits = new ArrayList<>();
+ splits.add(xMin); splits.add(xMax);
+ for (Obstacle obs : obstacles) {
+ for (double ox : obs.getIntersectionsX(y, angle)) {
+ if (ox > xMin + EPSILON && ox < xMax - EPSILON) splits.add(ox);
+ }
+ }
+ Collections.sort(splits);
+
+ // 鏋勫缓鏈鍊欓�夋
+ List<Double[]> rowSegments = new ArrayList<>();
+ for (int i = 0; i < splits.size() - 1; i++) {
+ double s = splits.get(i), e = splits.get(i+1);
+ Point mid = rotatePoint(new Point((s + e) / 2.0, y), angle);
+ if (!isPointInAnyObstacle(mid, obstacles)) {
+ rowSegments.add(new Double[]{s, e});
+ }
+ }
+
+ // 鏍规嵁褰撳墠S鍨嬫柟鍚戞帓搴�
+ if (!leftToRight) {
+ Collections.reverse(rowSegments);
+ for (Double[] seg : rowSegments) { double t = seg[0]; seg[0] = seg[1]; seg[1] = t; }
+ }
+
+ // 鎵ц杩炴帴锛氬己鍒舵鏌� currentPos 鍒版瘡涓�娈佃捣鐐圭殑璺濈
+ for (Double[] seg : rowSegments) {
+ Point p1 = rotatePoint(new Point(seg[0], y), angle);
+ Point p2 = rotatePoint(new Point(seg[1], y), angle);
+
+ // 鏍稿績淇锛氭棤璁哄杩戯紝鍙涓嶆槸鍚屼竴鐐癸紝灏卞缓绔嬭櫄绾胯繛鎺ワ紝纭繚璺緞娴佽浆
+ if (dist(currentPos, p1) > 0.001) {
+ result.add(new PathSegment(currentPos, p1, false));
+ }
+ result.add(new PathSegment(p1, p2, true));
+ currentPos = p2;
+ }
+ leftToRight = !leftToRight;
+ }
+ return result;
+ }
+
+ private static boolean isPointInAnyObstacle(Point p, List<Obstacle> obstacles) {
+ for (Obstacle obs : obstacles) if (obs.isInside(p)) return true;
+ return false;
+ }
+
+ private static double dist(Point p1, Point p2) {
+ return Math.hypot(p1.x - p2.x, p1.y - p2.y);
+ }
+
+ // --- 杈呭姪宸ュ叿 (瑙ｆ瀽涓庡彉鎹�) ---
+ private static List<Obstacle> parseObstacles(String obsStr, double margin) {
+ List<Obstacle> list = new ArrayList<>();
+ if (obsStr == null || obsStr.isEmpty()) return list;
+ for (String part : obsStr.split("\\$")) {
+ List<Point> pts = parseCoords(part);
+ if (pts.size() == 2) {
+ double r = dist(pts.get(0), pts.get(1));
+ list.add(new CircleObstacle(pts.get(0), r + margin));
+ } else if (pts.size() > 2) {
+ ensureCCW(pts);
+ list.add(new PolygonObstacle(expandPolygon(pts, margin)));
+ }
+ }
+ return list;
+ }
+
+ private static List<Point> expandPolygon(List<Point> poly, double margin) {
+ List<Point> res = new ArrayList<>();
+ int n = poly.size();
+ for (int i = 0; i < n; i++) {
+ Point p1 = poly.get((i - 1 + n) % n), p2 = poly.get(i), p3 = poly.get((i + 1) % n);
+ double d1x = p2.x - p1.x, d1y = p2.y - p1.y;
+ double d2x = p3.x - p2.x, d2y = p3.y - p2.y;
+ double l1 = Math.hypot(d1x, d1y), l2 = Math.hypot(d2x, d2y);
+ double n1x = d1y / l1, n1y = -d1x / l1;
+ double n2x = d2y / l2, n2y = -d2x / l2;
+ double bx = n1x + n2x, by = n1y + n2y;
+ double bLen = Math.hypot(bx, by);
+ if (bLen < EPSILON) { bx = n1x; by = n1y; } else { bx /= bLen; by /= bLen; }
+ double d = margin / Math.max(n1x * bx + n1y * by, 0.1);
+ res.add(new Point(p2.x + bx * Math.min(d, margin * 2), p2.y + by * Math.min(d, margin * 2)));
+ }
+ return res;
+ }
+
+ private static List<Point> parseCoords(String s) {
+ List<Point> list = new ArrayList<>();
+ for (String p : s.split(";")) {
+ String[] xy = p.split(",");
+ if (xy.length >= 2) list.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
+ }
+ return list;
+ }
+
+ private static void ensureCCW(List<Point> poly) {
+ double s = 0;
+ for (int i = 0; i < poly.size(); i++) {
+ Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
+ s += (p2.x - p1.x) * (p2.y + p1.y);
+ }
+ if (s > 0) Collections.reverse(poly);
+ }
+
+ private static List<Point> shrinkPolygon(List<Point> poly, double margin) {
+ List<Point> res = new ArrayList<>();
+ int n = poly.size();
+ for (int i = 0; i < n; i++) {
+ Point p1 = poly.get((i - 1 + n) % n), p2 = poly.get(i), p3 = poly.get((i + 1) % n);
+ double d1x = p2.x - p1.x, d1y = p2.y - p1.y;
+ double d2x = p3.x - p2.x, d2y = p3.y - p2.y;
+ double l1 = Math.hypot(d1x, d1y), l2 = Math.hypot(d2x, d2y);
+ double n1x = -d1y / l1, n1y = d1x / l1;
+ double n2x = -d2y / l2, n2y = d2x / l2;
+ double bx = n1x + n2x, by = n1y + n2y;
+ double bLen = Math.hypot(bx, by);
+ if (bLen < EPSILON) { bx = n1x; by = n1y; } else { bx /= bLen; by /= bLen; }
+ double d = margin / Math.max(n1x * bx + n1y * by, 0.1);
+ res.add(new Point(p2.x + bx * d, p2.y + by * d));
+ }
+ return res;
+ }
+
+ private static double findOptimalScanAngle(List<Point> poly) {
+ double minH = Double.MAX_VALUE, bestA = 0;
+ for (int i = 0; i < poly.size(); i++) {
+ Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
+ double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ double s = Math.sin(-a), c = Math.cos(-a);
+ for (Point p : poly) { double ry = p.x * s + p.y * c; minY = Math.min(minY, ry); maxY = Math.max(maxY, ry); }
+ if (maxY - minY < minH) { minH = maxY - minY; bestA = a; }
+ }
+ return bestA;
+ }
+
+ private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
+ List<Double> xInts = new ArrayList<>();
+ for (int i = 0; i < rotatedPoly.size(); i++) {
+ Point p1 = rotatedPoly.get(i), p2 = rotatedPoly.get((i + 1) % rotatedPoly.size());
+ if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
+ xInts.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
+ }
+ }
+ return xInts;
+ }
+
+ private static Point getFirstScanStartPoint(List<Point> poly, double angle, double width) {
+ List<Point> rot = rotatePolygon(poly, -angle);
+ double minY = Double.MAX_VALUE;
+ for (Point p : rot) minY = Math.min(minY, p.y);
+ double sy = minY + width + EPSILON;
+ List<Double> x = getXIntersections(rot, sy);
+ Collections.sort(x);
+ return rotatePoint(new Point(x.isEmpty() ? 0 : x.get(0), sy), angle);
+ }
+
+ private static List<Point> alignBoundaryToStart(List<Point> poly, Point target) {
+ int idx = 0; double minD = Double.MAX_VALUE;
+ for (int i = 0; i < poly.size(); i++) {
+ double d = dist(poly.get(i), target);
+ if (d < minD) { minD = d; idx = i; }
+ }
+ List<Point> res = new ArrayList<>();
+ for (int i = 0; i < poly.size(); i++) res.add(poly.get((idx + i) % poly.size()));
+ return res;
+ }
+
+ private static Point rotatePoint(Point p, double a) {
+ double c = Math.cos(a), s = Math.sin(a);
+ return new Point(p.x * c - p.y * s, p.x * s + p.y * c);
+ }
+
+ private static List<Point> rotatePolygon(List<Point> poly, double a) {
+ List<Point> res = new ArrayList<>();
+ for (Point p : poly) res.add(rotatePoint(p, a));
+ return res;
+ }
+}
\ No newline at end of file
--
Gitblit v1.10.0