From 1c8e32b4a45c1865e2a422e9949c1e996df861a6 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期四, 25 十二月 2025 16:01:17 +0800
Subject: [PATCH] 新增了凸形有障碍物地块路径规划未完成
---
src/lujing/AoxinglujingHaveObstacel.java | 367 ++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 352 insertions(+), 15 deletions(-)
diff --git a/src/lujing/AoxinglujingHaveObstacel.java b/src/lujing/AoxinglujingHaveObstacel.java
index 9cf387b..12e585e 100644
--- a/src/lujing/AoxinglujingHaveObstacel.java
+++ b/src/lujing/AoxinglujingHaveObstacel.java
@@ -1,23 +1,360 @@
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 (閬块殰浼樺寲鐗�)
+ * 浼樺寲锛氬鍔犱簡闅滅鐗╁尯闂撮澶勭悊銆佽矾寰勮繛鎺ュ氨杩戝師鍒欍�佷互鍙婃洿绋冲仴鐨勫杈瑰舰澶栨墿
*/
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. 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. 鍐呴儴濉厖
+ Point currentPos = alignedWorkArea.get(0);
+ List<PathSegment> zigZagLines = generateOptimizedZigZag(workArea, obstacles, bestAngle, width, currentPos);
+ finalPath.addAll(zigZagLines);
+
+ return finalPath;
+ }
+
+ private static List<PathSegment> generateOptimizedZigZag(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> intersections = getXIntersections(rotatedPoly, y);
+ if (intersections.size() < 2) continue;
+ Collections.sort(intersections);
+
+ double xBoundaryMin = intersections.get(0);
+ double xBoundaryMax = intersections.get(intersections.size() - 1);
+
+ // 鏀堕泦褰撳墠琛屾墍鏈夐殰纰嶇墿浜ょ偣骞惰繘琛岃鍓�
+ List<Double> splitPoints = new ArrayList<>();
+ splitPoints.add(xBoundaryMin);
+ for (Obstacle obs : obstacles) {
+ List<Double> obsX = obs.getIntersectionsX(y, angle);
+ for (double ox : obsX) {
+ if (ox > xBoundaryMin && ox < xBoundaryMax) splitPoints.add(ox);
+ }
+ }
+ Collections.sort(splitPoints);
+
+ // 鏋勫缓鏈夋晥娈�
+ List<LineRange> validRanges = new ArrayList<>();
+ for (int i = 0; i < splitPoints.size() - 1; i++) {
+ double midX = (splitPoints.get(i) + splitPoints.get(i + 1)) / 2.0;
+ Point midPoint = rotatePoint(new Point(midX, y), angle);
+
+ boolean insideAnyObstacle = false;
+ for (Obstacle obs : obstacles) {
+ if (obs.isInside(midPoint)) {
+ insideAnyObstacle = true;
+ break;
+ }
+ }
+ if (!insideAnyObstacle) {
+ validRanges.add(new LineRange(splitPoints.get(i), splitPoints.get(i+1)));
+ }
+ }
+
+ // 鏍规嵁褰撳墠鏈濆悜鎺掑簭鏈夋晥娈�
+ if (!leftToRight) {
+ Collections.reverse(validRanges);
+ for (LineRange range : validRanges) {
+ double temp = range.start;
+ range.start = range.end;
+ range.end = temp;
+ }
+ }
+
+ // 杩炴帴璺緞
+ for (LineRange range : validRanges) {
+ Point pStart = rotatePoint(new Point(range.start, y), angle);
+ Point pEnd = rotatePoint(new Point(range.end, y), angle);
+
+ if (Math.hypot(currentPos.x - pStart.x, currentPos.y - pStart.y) > 0.01) {
+ result.add(new PathSegment(currentPos, pStart, false));
+ }
+ result.add(new PathSegment(pStart, pEnd, true));
+ currentPos = pEnd;
+ }
+ leftToRight = !leftToRight;
+ }
+ return result;
+ }
+
+ private static class LineRange {
+ double start, end;
+ LineRange(double s, double e) { this.start = s; this.end = e; }
+ }
+
+ // --- 闅滅鐗╄В鏋愪笌澶氳竟褰㈠鎵� ---
+ private static List<Obstacle> parseObstacles(String obsStr, double margin) {
+ List<Obstacle> list = new ArrayList<>();
+ if (obsStr == null || obsStr.trim().isEmpty()) return list;
+
+ for (String part : obsStr.split("\\$")) {
+ List<Point> pts = parseCoords(part);
+ if (pts.size() == 2) {
+ double r = Math.hypot(pts.get(0).x - pts.get(1).x, pts.get(0).y - pts.get(1).y);
+ 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> result = new ArrayList<>();
+ int n = poly.size();
+ for (int i = 0; i < n; i++) {
+ Point pPrev = poly.get((i - 1 + n) % n);
+ Point pCurr = poly.get(i);
+ Point pNext = poly.get((i + 1) % n);
+
+ double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
+ double l1 = Math.hypot(d1x, d1y);
+ double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
+ double l2 = Math.hypot(d2x, d2y);
+
+ // 璁＄畻澶栨硶绾�
+ 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 cosHalf = n1x * bx + n1y * by;
+ double d = margin / Math.max(cosHalf, 0.1);
+ // 闄愬埗鏈�澶у鎵╋紝闃叉灏栬鐣稿彉
+ d = Math.min(d, margin * 3);
+ result.add(new Point(pCurr.x + bx * d, pCurr.y + by * d));
+ }
+ return result;
+ }
+
+ // --- 鍩虹宸ュ叿绫绘柟娉� ---
+ private static List<Point> parseCoords(String s) {
+ List<Point> list = new ArrayList<>();
+ if(s == null || s.isEmpty()) return list;
+ 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> polygon, double margin) {
+ List<Point> result = new ArrayList<>();
+ int n = polygon.size();
+ for (int i = 0; i < n; i++) {
+ Point pPrev = polygon.get((i - 1 + n) % n);
+ Point pCurr = polygon.get(i);
+ Point pNext = polygon.get((i + 1) % n);
+ double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
+ double l1 = Math.hypot(d1x, d1y);
+ double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
+ double 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 cosHalf = n1x * bx + n1y * by;
+ double d = margin / Math.max(cosHalf, 0.1);
+ result.add(new Point(pCurr.x + bx * d, pCurr.y + by * d));
+ }
+ return result;
+ }
+
+ private static double findOptimalScanAngle(List<Point> polygon) {
+ double minH = Double.MAX_VALUE, bestA = 0;
+ for (int i = 0; i < polygon.size(); i++) {
+ Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size());
+ double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x);
+ double h = calculatePolygonHeightAtAngle(polygon, angle);
+ if (h < minH) { minH = h; bestA = angle; }
+ }
+ return bestA;
+ }
+
+ private static double calculatePolygonHeightAtAngle(List<Point> poly, double angle) {
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ double sin = Math.sin(-angle), cos = Math.cos(-angle);
+ for (Point p : poly) {
+ double ry = p.x * sin + p.y * cos;
+ minY = Math.min(minY, ry); maxY = Math.max(maxY, ry);
+ }
+ return maxY - minY;
+ }
+
+ private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
+ List<Double> xInts = new ArrayList<>();
+ int n = rotatedPoly.size();
+ for (int i = 0; i < n; i++) {
+ Point p1 = rotatedPoly.get(i), p2 = rotatedPoly.get((i + 1) % n);
+ 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> polygon, double angle, double width) {
+ List<Point> rotated = rotatePolygon(polygon, -angle);
+ double minY = Double.MAX_VALUE;
+ for (Point p : rotated) minY = Math.min(minY, p.y);
+ double startY = minY + width + EPSILON;
+ List<Double> xInts = getXIntersections(rotated, startY);
+ if (xInts.isEmpty()) return polygon.get(0);
+ Collections.sort(xInts);
+ return rotatePoint(new Point(xInts.get(0), startY), angle);
+ }
+
+ private static List<Point> alignBoundaryToStart(List<Point> polygon, Point target) {
+ int bestIdx = 0; double minDist = Double.MAX_VALUE;
+ for (int i = 0; i < polygon.size(); i++) {
+ double d = Math.hypot(polygon.get(i).x - target.x, polygon.get(i).y - target.y);
+ if (d < minDist) { minDist = d; bestIdx = i; }
+ }
+ List<Point> aligned = new ArrayList<>();
+ for (int i = 0; i < polygon.size(); i++) aligned.add(polygon.get((bestIdx + i) % polygon.size()));
+ return aligned;
+ }
+
+ private static Point rotatePoint(Point p, double angle) {
+ double c = Math.cos(angle), s = Math.sin(angle);
+ return new Point(p.x * c - p.y * s, p.x * s + p.y * c);
+ }
+
+ private static List<Point> rotatePolygon(List<Point> poly, double angle) {
+ List<Point> res = new ArrayList<>();
+ for (Point p : poly) res.add(rotatePoint(p, angle));
+ return res;
+ }
+}
\ No newline at end of file
--
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