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
---
src/lujing/MowingPathGenerationPage.java | 6 ++++++
1 files changed, 6 insertions(+), 0 deletions(-)
diff --git a/src/lujing/MowingPathGenerationPage.java b/src/lujing/MowingPathGenerationPage.java
index 78735ca..675d83f 100644
--- a/src/lujing/MowingPathGenerationPage.java
+++ b/src/lujing/MowingPathGenerationPage.java
@@ -609,12 +609,14 @@
// 鏃犻殰纰嶇墿鐨勬儏鍐�
if (grassType == 1) {
// 鍑稿舰鍦板潡锛屾棤闅滅鐗� -> 璋冪敤 AoxinglujingNoObstacle
+ System.out.println("璋冪敤绠楁硶: 鍑稿舰鏃犻殰纰嶇墿, 绫诲悕: AoxinglujingNoObstacle");
List<AoxinglujingNoObstacle.PathSegment> segments =
AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
generated = formatAoxingPathSegments(segments);
} else if (grassType == 2) {
// 寮傚舰鍦板潡锛屾棤闅滅鐗� -> 璋冪敤 YixinglujingNoObstacle
// 璋冪敤 YixinglujingNoObstacle.planPath 鑾峰彇璺緞娈靛垪琛�
+ System.out.println("璋冪敤绠楁硶: 寮傚舰鏃犻殰纰嶇墿, 绫诲悕: YixinglujingNoObstacle");
List<YixinglujingNoObstacle.PathSegment> segments =
YixinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
// 鏍煎紡鍖栬矾寰勬鍒楄〃涓哄瓧绗︿覆
@@ -625,6 +627,7 @@
JOptionPane.showMessageDialog(parentComponent, "鏃犳硶鍒ゆ柇鍦板潡绫诲瀷锛屽皾璇曟寜鍑稿舰鍦板潡澶勭悊",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
+ System.out.println("璋冪敤绠楁硶: 鏃犳硶鍒ゆ柇绫诲瀷(榛樿鍑稿舰鏃犻殰纰嶇墿), 绫诲悕: AoxinglujingNoObstacle");
List<AoxinglujingNoObstacle.PathSegment> segments =
AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
generated = formatAoxingPathSegments(segments);
@@ -634,12 +637,14 @@
if (grassType == 1) {
// 鍑稿舰鍦板潡锛屾湁闅滅鐗� -> 璋冪敤 AoxinglujingHaveObstacel
// 浼犲叆鍙傛暟锛歜oundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
+ System.out.println("璋冪敤绠楁硶: 鍑稿舰鏈夐殰纰嶇墿, 绫诲悕: AoxinglujingHaveObstacel");
List<AoxinglujingHaveObstacel.PathSegment> segments =
AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatAoxingHaveObstaclePathSegments(segments);
} else if (grassType == 2) {
// 寮傚舰鍦板潡锛屾湁闅滅鐗� -> 璋冪敤 YixinglujingHaveObstacel
// 浼犲叆鍙傛暟锛歜oundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
+ System.out.println("璋冪敤绠楁硶: 寮傚舰鏈夐殰纰嶇墿, 绫诲悕: YixinglujingHaveObstacel");
List<YixinglujingHaveObstacel.PathSegment> segments =
YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatYixingHaveObstaclePathSegments(segments);
@@ -649,6 +654,7 @@
JOptionPane.showMessageDialog(parentComponent, "鏃犳硶鍒ゆ柇鍦板潡绫诲瀷锛屽皾璇曟寜鍑稿舰鍦板潡澶勭悊",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
+ System.out.println("璋冪敤绠楁硶: 鏃犳硶鍒ゆ柇绫诲瀷(榛樿鍑稿舰鏈夐殰纰嶇墿), 绫诲悕: AoxinglujingHaveObstacel");
List<AoxinglujingHaveObstacel.PathSegment> segments =
AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatAoxingHaveObstaclePathSegments(segments);
--
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