From cbfd1df513c473dd5550d78740c92fc1677b6e9b Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 13:40:42 +0800
Subject: [PATCH] 异形有障碍物路径规划没完成

---
 dikuai.properties |   43 ++++++++++++++++++++++---------------------
 1 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/dikuai.properties b/dikuai.properties
index 30c84cb..885dbb0 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,25 +1,26 @@
 #Dikuai Properties
-#Tue Dec 23 12:02:04 CST 2025
-LAND1.angleThreshold=-1
-LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
-LAND1.boundaryCoordinates=2.878,-0.189;2.841,-0.285;4.019,-0.920;5.266,-1.237;6.741,-1.234;9.667,-0.786;12.554,-0.121;15.505,0.362;18.397,0.486;21.312,0.812;22.788,1.058;24.173,1.502;25.414,2.135;26.641,2.849;27.909,3.659;30.424,5.455;31.596,6.389;34.764,9.216;35.879,9.970;37.111,10.363;38.442,10.358;39.706,10.039;40.880,9.407;41.960,8.503;42.847,7.413;43.605,6.152;44.139,4.869;44.173,3.711;43.536,2.919;42.327,2.469;39.527,1.769;35.235,0.943;33.800,0.591;32.427,0.156;31.148,-0.377;30.259,-1.257;30.032,-2.368;30.124,-3.806;30.592,-6.598;32.072,-15.160;32.780,-19.371;34.157,-26.787;34.232,-28.316;33.745,-29.453;32.721,-30.027;31.412,-30.280;30.154,-30.223;29.263,-29.730;28.927,-28.622;28.539,-25.663;28.011,-22.743;27.717,-19.753;27.397,-18.188
-LAND1.boundaryOriginalCoordinates=3949.89141566,N,11616.79469475,E,49.30;3949.89141544,N,11616.79467539,E,49.29;3949.89136398,N,11616.79466910,E,49.23;3949.89128683,N,11616.79487250,E,49.31;3949.89102185,N,11616.79549593,E,49.34;3949.89085094,N,11616.79637079,E,49.30;3949.89085267,N,11616.79740658,E,49.28;3949.89096910,N,11616.79842896,E,49.28;3949.89109402,N,11616.79945996,E,49.29;3949.89126713,N,11616.80046497,E,49.24;3949.89145249,N,11616.80148631,E,49.30;3949.89158699,N,11616.80253495,E,49.24;3949.89171248,N,11616.80355780,E,49.29;3949.89174068,N,11616.80457312,E,49.26;3949.89177930,N,11616.80558715,E,49.32;3949.89185388,N,11616.80658529,E,49.28;3949.89195495,N,11616.80763320,E,49.28;3949.89208756,N,11616.80866929,E,49.26;3949.89232733,N,11616.80964143,E,49.27;3949.89266824,N,11616.81051261,E,49.25;3949.89305325,N,11616.81137364,E,49.24;3949.89348965,N,11616.81226339,E,49.26;3949.89397613,N,11616.81314989,E,49.26;3949.89445764,N,11616.81402904,E,49.22;3949.89496109,N,11616.81485157,E,49.24;3949.89548952,N,11616.81559268,E,49.24;3949.89599787,N,11616.81634299,E,49.23;3949.89648469,N,11616.81707475,E,49.18;3949.89689104,N,11616.81785765,E,49.12;3949.89710296,N,11616.81872248,E,49.11;3949.89710062,N,11616.81965642,E,49.12;3949.89692825,N,11616.82054357,E,49.15;3949.89658793,N,11616.82136718,E,49.21;3949.89610032,N,11616.82212577,E,49.23;3949.89551298,N,11616.82274838,E,49.25;3949.89483319,N,11616.82327997,E,49.25;3949.89414161,N,11616.82365464,E,49.19;3949.89351779,N,11616.82367898,E,49.23;3949.89309064,N,11616.82323154,E,49.28;3949.89284806,N,11616.82238296,E,49.32;3949.89265100,N,11616.82140220,E,49.33;3949.89247078,N,11616.82041778,E,49.29;3949.89234412,N,11616.81943160,E,49.27;3949.89218617,N,11616.81842070,E,49.24;3949.89202594,N,11616.81740551,E,49.25;3949.89183612,N,11616.81639845,E,49.26;3949.89160142,N,11616.81543453,E,49.28;3949.89131457,N,11616.81453660,E,49.21;3949.89084019,N,11616.81391281,E,49.28;3949.89024108,N,11616.81375396,E,49.24;3949.88946610,N,11616.81381853,E,49.33;3949.88870219,N,11616.81396674,E,49.34;3949.88796112,N,11616.81414676,E,49.31;3949.88721770,N,11616.81434141,E,49.31;3949.88647395,N,11616.81450561,E,49.26;3949.88571308,N,11616.81466545,E,49.23;3949.88493961,N,11616.81483628,E,49.25;3949.88414456,N,11616.81500598,E,49.22;3949.88334667,N,11616.81518578,E,49.25;3949.88257034,N,11616.81533444,E,49.26;3949.88185629,N,11616.81550007,E,49.24;3949.88107662,N,11616.81568212,E,49.25;3949.88030636,N,11616.81588794,E,49.26;3949.87946067,N,11616.81608003,E,49.20;3949.87863066,N,11616.81627349,E,49.16;3949.87785515,N,11616.81645934,E,49.17;3949.87707939,N,11616.81664917,E,49.22;3949.87625552,N,11616.81670137,E,49.16;3949.87564252,N,11616.81635965,E,49.23;3949.87533307,N,11616.81564126,E,49.30;3949.87519696,N,11616.81472252,E,49.20;3949.87522753,N,11616.81383935,E,49.22;3949.87549352,N,11616.81321391,E,49.10;3949.87609079,N,11616.81297804,E,49.17;3949.87687685,N,11616.81283389,E,49.14;3949.87768537,N,11616.81270581,E,49.14;3949.87848908,N,11616.81251153,E,49.17;3949.87925932,N,11616.81233488,E,49.14;3949.88002562,N,11616.81224532,E,49.17;3949.88087087,N,11616.81212866,E,49.21;3949.88171462,N,11616.81190423,E,49.21
-LAND1.boundaryOriginalXY=2.88,-0.19;2.85,-0.19;2.84,-0.28;3.13,-0.43;4.02,-0.92;5.27,-1.24;6.74,-1.23;8.20,-1.02;9.67,-0.79;11.10,-0.46;12.55,-0.12;14.05,0.13;15.51,0.36;16.95,0.41;18.40,0.49;19.82,0.62;21.31,0.81;22.79,1.06;24.17,1.50;25.41,2.13;26.64,2.85;27.91,3.66;29.17,4.56;30.42,5.45;31.60,6.39;32.65,7.37;33.72,8.31;34.76,9.22;35.88,9.97;37.11,10.36;38.44,10.36;39.71,10.04;40.88,9.41;41.96,8.50;42.85,7.41;43.60,6.15;44.14,4.87;44.17,3.71;43.54,2.92;42.33,2.47;40.93,2.10;39.53,1.77;38.12,1.53;36.68,1.24;35.24,0.94;33.80,0.59;32.43,0.16;31.15,-0.38;30.26,-1.26;30.03,-2.37;30.12,-3.81;30.34,-5.22;30.59,-6.60;30.87,-7.98;31.10,-9.36;31.33,-10.77;31.57,-12.20;31.82,-13.68;32.07,-15.16;32.28,-16.60;32.52,-17.92;32.78,-19.37;33.07,-20.80;33.35,-22.37;33.62,-23.91;33.89,-25.35;34.16,-26.79;34.23,-28.32;33.75,-29.45;32.72,-30.03;31.41,-30.28;30.15,-30.22;29.26,-29.73;28.93,-28.62;28.72,-27.16;28.54,-25.66;28.26,-24.17;28.01,-22.74;27.88,-21.32;27.72,-19.75;27.40,-18.19
-LAND1.boundaryPointInterval=-1
-LAND1.createTime=2025-12-23 11\:05\:13
+#Sat Dec 27 13:39:05 GMT+08:00 2025
 LAND1.intelligentSceneAnalysis=-1
-LAND1.landArea=473.48
-LAND1.landName=1254
-LAND1.landNumber=LAND1
-LAND1.mowingBladeWidth=0.40
-LAND1.mowingOverlapDistance=0.06
-LAND1.mowingPattern=骞宠绾�
-LAND1.mowingSafetyDistance=0.50
-LAND1.mowingTrack=-1
-LAND1.mowingWidth=34
-LAND1.plannedPath=4.901,-1.213;4.885,-1.116;5.246,-1.213;5.295,-1.504;5.689,-1.795;5.607,-1.311;5.969,-1.408;6.083,-2.086;6.477,-2.374;6.330,-1.505;6.690,-1.596;6.870,-2.662;7.264,-2.950;7.029,-1.561;7.366,-1.513;7.657,-3.239;8.051,-3.527;7.702,-1.465;8.039,-1.417;8.444,-3.815;8.838,-4.103;8.376,-1.369;8.713,-1.321;9.231,-4.391;9.625,-4.682;9.049,-1.272;9.386,-1.224;10.019,-4.973;10.413,-5.264;9.723,-1.176;10.059,-1.128;10.807,-5.554;11.200,-5.842;10.396,-1.080;10.733,-1.032;11.594,-6.130;11.987,-6.418;11.069,-0.984;11.406,-0.936;12.381,-6.706;12.774,-6.994;11.743,-0.888;12.079,-0.840;13.168,-7.282;13.561,-7.570;12.416,-0.791;12.753,-0.743;13.955,-7.860;14.349,-8.150;13.089,-0.695;13.426,-0.647;14.743,-8.441;15.137,-8.732;13.763,-0.599;14.100,-0.551;15.531,-9.022;15.924,-9.310;14.436,-0.503;14.773,-0.455;16.317,-9.598;16.711,-9.886;15.110,-0.407;15.446,-0.359;17.105,-10.176;17.499,-10.467;15.783,-0.310;16.120,-0.262;17.893,-10.758;18.287,-11.049;16.456,-0.214;16.793,-0.166;18.680,-11.338;19.074,-11.626;17.130,-0.118;17.466,-0.070;19.467,-11.914;19.861,-12.202;17.803,-0.022;18.140,0.026;20.254,-12.490;20.648,-12.778;18.477,0.074;18.813,0.122;21.041,-13.066;21.435,-13.354;19.150,0.171;19.487,0.219;21.828,-13.645;22.222,-13.936;19.823,0.267;20.160,0.315;22.616,-14.227;23.010,-14.517;20.497,0.363;20.833,0.411;23.404,-14.805;23.797,-15.093;21.170,0.459;21.507,0.507;24.191,-15.381;24.584,-15.669;21.843,0.555;22.180,0.603;24.977,-15.955;25.370,-16.241;22.517,0.652;22.853,0.703;25.763,-16.527;26.157,-16.814;23.172,0.854;23.490,1.015;26.551,-17.105;26.945,-17.396;23.808,1.175;24.125,1.336;27.339,-17.687;29.667,-29.430;24.443,1.497;24.761,1.657;30.028,-29.522;30.388,-29.614;25.078,1.818;25.396,1.979;30.748,-29.706;31.109,-29.799;25.714,2.139;26.031,2.300;31.459,-29.829;31.784,-29.713;26.349,2.461;26.667,2.622;32.109,-29.597;32.434,-29.482;26.984,2.782;27.302,2.943;32.760,-29.366;33.085,-29.250;27.620,3.104;27.937,3.264;33.394,-29.040;33.559,-27.972;28.248,3.469;28.552,3.710;33.723,-26.905;29.785,-1.551;28.856,3.951;29.160,4.192;30.027,-0.944;30.338,-0.741;29.464,4.433;29.768,4.675;30.648,-0.537;30.959,-0.334;30.072,4.916;30.376,5.157;31.269,-0.131;31.580,0.072;30.680,5.398;30.984,5.639;31.890,0.275;32.201,0.477;31.289,5.880;31.593,6.121;32.529,0.576;32.860,0.658;31.897,6.362;32.201,6.603;33.191,0.740;33.522,0.823;32.505,6.844;32.809,7.085;33.853,0.905;34.184,0.987;33.113,7.326;33.417,7.567;34.515,1.070;34.846,1.152;33.721,7.808;34.025,8.049;35.177,1.234;35.508,1.316;34.330,8.290;34.634,8.532;35.838,1.399;36.169,1.481;34.938,8.773;35.242,9.014;36.500,1.563;36.831,1.646;35.546,9.255;35.850,9.496;37.162,1.728;37.493,1.810;36.171,9.636;36.507,9.687;37.824,1.892;38.155,1.975;36.843,9.739;37.180,9.790;38.486,2.057;38.817,2.139;37.516,9.841;37.852,9.892;39.148,2.222;39.479,2.304;38.188,9.943;38.541,9.898;39.810,2.386;40.140,2.468;38.910,9.753;39.279,9.609;40.471,2.551;40.802,2.633;39.648,9.465;40.017,9.320;41.133,2.715;41.464,2.798;40.387,9.176;40.792,8.819;41.795,2.880;42.126,2.962;41.243,8.191;41.694,7.563;42.457,3.044;42.788,3.127;42.144,6.935;42.595,6.307;43.119,3.209;43.368,3.777;43.046,5.679;43.497,5.051;43.591,4.498
-LAND1.returnPathCoordinates=-1
-LAND1.returnPathRawCoordinates=-1
+LAND1.mowingSafetyDistance=0.53
+LAND1.landArea=577.12
 LAND1.returnPointCoordinates=-1
-LAND1.updateTime=2025-12-23 12\:02\:04
+LAND1.landNumber=LAND1
+LAND1.returnPathCoordinates=-1
+LAND1.mowingPattern=骞宠绾�
+LAND1.mowingOverlapDistance=0.06
+LAND1.returnPathRawCoordinates=-1
+LAND1.boundaryOriginalXY=-1
+LAND1.mowingWidth=1.00
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+LAND1.updateTime=2025-12-27 13\:39\:05
+LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
+LAND1.boundaryPointInterval=-1
+LAND1.createTime=2025-12-23 17\:08\:09
+LAND1.angleThreshold=-1
 LAND1.userId=-1
+LAND1.landName=123
+LAND1.mowingTrack=-1
+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
+LAND1.obstacleCoordinates=(53.95,39.88;55.58,45.69;64.53,45.45;66.97,40.57)
+LAND1.boundaryCoordinates=50.39,50.57;74.32,50.40;78.69,24.37;65.76,20.70;65.76,36.07;52.31,33.80;50.04,19.30;41.30,22.10
+LAND1.mowingBladeWidth=0.51

--
Gitblit v1.10.0