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/YixinglujingHaveObstacel.java | 870 +++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 565 insertions(+), 305 deletions(-)
diff --git a/src/lujing/YixinglujingHaveObstacel.java b/src/lujing/YixinglujingHaveObstacel.java
index ff0736a..7d3cbce 100644
--- a/src/lujing/YixinglujingHaveObstacel.java
+++ b/src/lujing/YixinglujingHaveObstacel.java
@@ -1,360 +1,615 @@
package lujing;
+import java.util.*;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
/**
- * 寮傚舰鑽夊湴璺緞瑙勫垝 - 閬块殰澧炲己鐗� V8.0
- * 淇璇存槑锛�
- * 1. 淇浜嗗湴鍧楀唴缂╁拰闅滅鐗╁鎵╃殑姝ｈ礋閫昏緫銆�
- * 2. 浼樺寲浜嗗杈瑰舰鍋忕Щ绠楁硶锛岀‘淇濋�嗘椂閽堢偣搴忎笅姝ｅ�煎唴缂╋紝璐熷�煎鎵┿��
- * 3. 澧炲己浜嗛殰纰嶇墿瑙ｆ瀽鐨勫仴澹�с��
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍚殰纰嶇墿鐗�
+ * 鍔熻兘锛氬湪鍦板潡鍐呴儴閬垮紑闅滅鐗╋紝鐢熸垚杩炵画寮撳瓧褰㈠壊鑽夎矾寰�
*/
public class YixinglujingHaveObstacel {
-
- public static List<PathSegment> planPath(String coordinates, String obstaclesStr, String widthStr, String marginStr) {
+
+ public static List<PathSegment> planPath(String coordinates, String obstaclesStr,
+ String widthStr, String marginStr) {
+ // 1. 瑙ｆ瀽鍙傛暟
List<Point> rawPoints = parseCoordinates(coordinates);
if (rawPoints.size() < 3) return new ArrayList<>();
-
+
double mowWidth = Double.parseDouble(widthStr);
double safeMargin = Double.parseDouble(marginStr);
-
- // 1. 棰勫鐞嗗湴鍧楋紙纭繚閫嗘椂閽堥『搴忥級
+
+ // 瑙ｆ瀽闅滅鐗�
+ List<Obstacle> obstacles = parseObstacles(obstaclesStr);
+
+ // 2. 棰勫鐞嗭細纭繚杈圭晫閫嗘椂閽�
ensureCounterClockwise(rawPoints);
- // 銆愭牳蹇冧慨澶嶃�戯細瀵逛簬閫嗘椂閽堝杈瑰舰锛屾鏁版槸鍚戝唴鍋忕Щ锛圛nset锛�
- List<Point> boundary = getOffsetPolygon(rawPoints, safeMargin);
+ // 3. 鐢熸垚鍐呯缉澶氳竟褰紙瀹夊叏杈圭晫锛�
+ List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
if (boundary.size() < 3) return new ArrayList<>();
-
- // 2. 纭畾鏈�浼樿搴﹀苟瑙勫垝鍩虹璺緞
- double bestAngle = findOptimalAngle(boundary);
- Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
- List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
-
- List<PathSegment> baseLines = new ArrayList<>();
- // 绗竴闃舵锛氬洿杈硅矾寰�
- for (int i = 0; i < alignedBoundary.size(); i++) {
- baseLines.add(new PathSegment(alignedBoundary.get(i), alignedBoundary.get((i + 1) % alignedBoundary.size()), true));
- }
- // 绗簩闃舵锛氱敓鎴愬唴閮ㄦ壂鎻忚矾寰�
- Point lastEdgePos = alignedBoundary.get(0);
- baseLines.addAll(generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos));
-
- // 3. 澶勭悊闅滅鐗╋細瑙ｆ瀽骞舵墽琛屻�愬鎵┿��
- // 銆愭牳蹇冧慨澶嶃�戯細瀵逛簬閫嗘椂閽堥殰纰嶇墿锛岃礋鏁版槸鍚戝鍋忕Щ锛圤utset锛�
- List<Obstacle> obstacles = parseObstacles(obstaclesStr, safeMargin);
-
- // 4. 璺緞瑁佸壀涓庝紭鍖栬繛鎺�
- return optimizeAndClipPath(baseLines, obstacles);
- }
-
- private static List<Obstacle> parseObstacles(String obsStr, double margin) {
- List<Obstacle> obstacles = new ArrayList<>();
- if (obsStr == null || obsStr.trim().isEmpty()) return obstacles;
- for (String group : obsStr.split("\\$")) {
- List<Point> pts = parseCoordinates(group);
- if (pts.isEmpty()) continue;
-
- if (pts.size() == 2) {
- // 鍦嗗舰闅滅鐗╋細绗竴涓偣蹇冿紝绗簩涓偣涓婁竴鐐癸紝鍗婂緞澧炲姞 margin
- double r = Math.hypot(pts.get(0).x - pts.get(1).x, pts.get(0).y - pts.get(1).y);
- obstacles.add(new CircleObstacle(pts.get(0), r + margin));
- } else if (pts.size() > 2) {
- // 澶氳竟褰㈤殰纰嶇墿锛氱‘淇濋�嗘椂閽堬紝鐒跺悗浣跨敤璐� margin 杩涜銆愬鎵┿��
- ensureCounterClockwise(pts);
- obstacles.add(new PolyObstacle(getOffsetPolygon(pts, -margin)));
- }
+ // 4. 澶栨墿闅滅鐗╋紙瀹夊叏杈硅窛锛�
+ List<Obstacle> expandedObstacles = expandObstacles(obstacles, safeMargin);
+
+ // 5. 纭畾鏈�浼樹綔涓氳搴�
+ double bestAngle = findOptimalAngle(boundary);
+
+ // 6. 鑾峰彇棣栦釜浣滀笟鐐癸紝鐢ㄤ簬瀵归綈鍥磋竟璧风偣
+ Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
+
+ // 7. 瀵归綈鍥磋竟
+ List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
+
+ // 8. 绗竴闃舵锛氬洿杈硅矾寰�
+ List<PathSegment> finalPath = new ArrayList<>();
+ for (int i = 0; i < alignedBoundary.size(); i++) {
+ Point pStart = alignedBoundary.get(i);
+ Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size());
+ finalPath.add(new PathSegment(pStart, pEnd, true));
}
- return obstacles;
+
+ // 9. 绗簩闃舵锛氱敓鎴愬唴閮ㄦ壂鎻忚矾寰勶紙鑰冭檻闅滅鐗╋級
+ Point lastEdgePos = alignedBoundary.get(0);
+ List<PathSegment> scanPath = generateGlobalScanPathWithObstacles(
+ boundary, expandedObstacles, mowWidth, bestAngle, lastEdgePos);
+
+ finalPath.addAll(scanPath);
+
+ return finalPath;
}
-
+
/**
- * 澶氳竟褰㈠亸绉荤畻娉曪細鍩轰簬瑙掑钩鍒嗙嚎鍋忕Щ
- * 鍦ㄩ�嗘椂閽堥『搴忎笅锛歰ffset > 0 涓哄唴缂╋紝offset < 0 涓哄鎵�
+ * 鐢熸垚甯﹂殰纰嶇墿鐨勬壂鎻忚矾寰�
*/
- private static List<Point> getOffsetPolygon(List<Point> points, double offset) {
- List<Point> result = new ArrayList<>();
- int n = points.size();
- for (int i = 0; i < n; i++) {
- Point p1 = points.get((i - 1 + n) % n);
- Point p2 = points.get(i);
- Point p3 = points.get((i + 1) % n);
-
- double v1x = p2.x - p1.x, v1y = p2.y - p1.y;
- double v2x = p3.x - p2.x, v2y = p3.y - p2.y;
- double l1 = Math.hypot(v1x, v1y), l2 = Math.hypot(v2x, v2y);
-
- if (l1 < 1e-6 || l2 < 1e-6) continue;
-
- // 鑾峰彇涓ゆ潯杈圭殑娉曞悜閲忥紙鍚戝乏鍋忕Щ锛�
- double n1x = -v1y / l1, n1y = v1x / l1;
- double n2x = -v2y / l2, n2y = v2x / l2;
-
- // 瑙掑钩鍒嗙嚎鍚戦噺
- double bx = n1x + n2x, by = n1y + n2y;
- double bl = Math.hypot(bx, by);
- if (bl < 1e-6) {
- bx = n1x; by = n1y;
- } else {
- bx /= bl; by /= bl;
+ private static List<PathSegment> generateGlobalScanPathWithObstacles(
+ List<Point> polygon, List<Obstacle> obstacles,
+ double width, double angle, Point startPos) {
+
+ // 1. 鐢熸垚鍘熷鎵弿绾匡紙鏃犻殰纰嶇墿锛�
+ List<PathSegment> originalSegments = generateGlobalScanPath(polygon, width, angle, startPos);
+
+ // 2. 绉婚櫎鍦ㄩ殰纰嶇墿鍐呴儴鐨勭嚎娈�
+ List<PathSegment> remainingSegments = new ArrayList<>();
+ for (PathSegment seg : originalSegments) {
+ if (!seg.isMowing) {
+ // 绌鸿蛋娈电洿鎺ヤ繚鐣�
+ remainingSegments.add(seg);
+ continue;
}
-
- // 璁＄畻鍋忕Щ闀垮害淇绯绘暟锛�1/sin(theta/2)
- double cosHalf = n1x * bx + n1y * by;
- double d = offset / Math.max(cosHalf, 0.1); // 閬垮厤鍒嗘瘝杩囧皬瀵艰嚧鏃犵┓澶�
- // 闄愬埗鏈�澶т綅绉婚噺锛岄槻姝㈡瀬灏栬鐣稿彉
- d = Math.signum(offset) * Math.min(Math.abs(d), Math.abs(offset) * 5);
-
- result.add(new Point(p2.x + bx * d, p2.y + by * d));
- }
- return result;
- }
-
- private static List<PathSegment> optimizeAndClipPath(List<PathSegment> originalPath, List<Obstacle> obstacles) {
- List<PathSegment> result = new ArrayList<>();
- Point currentPos = null;
-
- for (PathSegment segment : originalPath) {
- List<PathSegment> clipped = new ArrayList<>();
- clipped.add(segment);
-
- // 鐢ㄦ瘡涓�涓殰纰嶇墿渚濇瑁佸壀
+ // 灏嗗壊鑽夋涓庢墍鏈夐殰纰嶇墿杩涜瑁佸壀
+ List<PathSegment> clippedSegments = new ArrayList<>();
+ clippedSegments.add(seg);
+
for (Obstacle obs : obstacles) {
- List<PathSegment> nextIter = new ArrayList<>();
- for (PathSegment s : clipped) {
- nextIter.addAll(obs.clipSegment(s));
+ List<PathSegment> newSegments = new ArrayList<>();
+ for (PathSegment s : clippedSegments) {
+ newSegments.addAll(clipSegmentWithObstacle(s, obs));
}
- clipped = nextIter;
+ clippedSegments = newSegments;
}
-
- for (PathSegment s : clipped) {
- // 鍓旈櫎寰皬娈�
- if (Math.hypot(s.start.x - s.end.x, s.start.y - s.end.y) < 1e-4) continue;
-
- // 濡傛灉鏂版鐨勮捣鐐逛笌涓婃鐨勭粓鐐逛笉杩炶疮锛屾坊鍔犵┖璧帮紙闈炲壊鑽夛級璺緞
- if (currentPos != null && Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
- result.add(new PathSegment(currentPos, s.start, false));
+
+ remainingSegments.addAll(clippedSegments);
+ }
+
+ // 3. 閲嶆柊杩炴帴璺緞娈碉紙寮撳瓧褰㈣繛鎺ワ級
+ return reconnectSegments(remainingSegments);
+ }
+
+ /**
+ * 灏嗙嚎娈典笌闅滅鐗╄繘琛岃鍓�
+ * 杩斿洖涓嶅湪闅滅鐗╁唴閮ㄧ殑瀛愮嚎娈�
+ */
+ private static List<PathSegment> clipSegmentWithObstacle(PathSegment segment, Obstacle obstacle) {
+ List<PathSegment> result = new ArrayList<>();
+
+ // 妫�鏌ョ嚎娈垫槸鍚﹀畬鍏ㄥ湪闅滅鐗╁閮�
+ boolean startInside = obstacle.contains(segment.start);
+ boolean endInside = obstacle.contains(segment.end);
+
+ if (!startInside && !endInside) {
+ // 绾挎涓ょ閮藉湪澶栭儴锛屾鏌ユ槸鍚︾┛杩囬殰纰嶇墿
+ List<Point> intersections = obstacle.getIntersections(segment);
+ if (intersections.isEmpty()) {
+ // 瀹屽叏鍦ㄥ閮�
+ result.add(segment);
+ } else {
+ // 绌胯繃闅滅鐗╋紝鍒嗗壊绾挎
+ intersections.sort(Comparator.comparingDouble(p ->
+ distance(segment.start, p)));
+
+ Point prevPoint = segment.start;
+ for (Point inter : intersections) {
+ result.add(new PathSegment(prevPoint, inter, true));
+ prevPoint = inter;
}
- result.add(s);
- currentPos = s.end;
+ result.add(new PathSegment(prevPoint, segment.end, true));
+
+ // 绉婚櫎鍦ㄩ殰纰嶇墿鍐呴儴鐨勬锛堝鏁扮储寮曠殑娈碉級
+ List<PathSegment> filtered = new ArrayList<>();
+ for (int i = 0; i < result.size(); i++) {
+ PathSegment s = result.get(i);
+ Point midPoint = new Point(
+ (s.start.x + s.end.x) / 2,
+ (s.start.y + s.end.y) / 2
+ );
+ if (!obstacle.contains(midPoint)) {
+ filtered.add(s);
+ }
+ }
+ return filtered;
+ }
+ } else if (startInside && endInside) {
+ // 瀹屽叏鍦ㄥ唴閮紝涓㈠純
+ return result;
+ } else {
+ // 涓�绔湪鍐呴儴锛屼竴绔湪澶栭儴
+ Point insidePoint = startInside ? segment.start : segment.end;
+ Point outsidePoint = startInside ? segment.end : segment.start;
+
+ List<Point> intersections = obstacle.getIntersections(segment);
+ if (!intersections.isEmpty()) {
+ // 鍙栫澶栭儴鐐规渶杩戠殑浜ょ偣
+ intersections.sort(Comparator.comparingDouble(p ->
+ distance(outsidePoint, p)));
+ Point inter = intersections.get(0);
+
+ // 鍙繚鐣欏閮ㄩ儴鍒�
+ if (startInside) {
+ result.add(new PathSegment(inter, outsidePoint, true));
+ } else {
+ result.add(new PathSegment(outsidePoint, inter, true));
+ }
}
}
+
return result;
}
-
- // --- 闅滅鐗╃被瀹氫箟 ---
- abstract static class Obstacle {
- abstract boolean isInside(Point p);
- abstract List<PathSegment> clipSegment(PathSegment seg);
- }
-
- static class PolyObstacle extends Obstacle {
- List<Point> points;
- double minX, maxX, minY, maxY;
-
- public PolyObstacle(List<Point> pts) {
- this.points = pts;
- minX = minY = Double.MAX_VALUE;
- maxX = maxY = -Double.MAX_VALUE;
- for (Point p : pts) {
- minX = Math.min(minX, p.x); maxX = Math.max(maxX, p.x);
- minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
- }
- }
-
- @Override
- boolean isInside(Point p) {
- if (p.x < minX || p.x > maxX || p.y < minY || p.y > maxY) return false;
- boolean inside = 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)) {
- inside = !inside;
+
+ /**
+ * 閲嶆柊杩炴帴璺緞娈碉紝褰㈡垚杩炵画寮撳瓧褰㈣矾寰�
+ */
+ private static List<PathSegment> reconnectSegments(List<PathSegment> segments) {
+ if (segments.isEmpty()) return new ArrayList<>();
+
+ List<PathSegment> reconnected = new ArrayList<>();
+ Point currentPos = segments.get(0).start;
+
+ for (PathSegment seg : segments) {
+ if (seg.isMowing) {
+ // 鍓茶崏娈碉細妫�鏌ユ槸鍚﹂渶瑕佹坊鍔犵┖璧版
+ if (distance(currentPos, seg.start) > 0.01) {
+ reconnected.add(new PathSegment(currentPos, seg.start, false));
}
+ reconnected.add(seg);
+ currentPos = seg.end;
+ } else {
+ // 绌鸿蛋娈电洿鎺ユ坊鍔�
+ reconnected.add(seg);
+ currentPos = seg.end;
}
- return inside;
}
-
- @Override
- List<PathSegment> clipSegment(PathSegment seg) {
- List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
- for (int i = 0; i < points.size(); i++) {
- double t = getIntersectionT(seg.start, seg.end, points.get(i), points.get((i + 1) % points.size()));
- if (t > 0 && t < 1) ts.add(t);
- }
- Collections.sort(ts);
- List<PathSegment> res = new ArrayList<>();
- for (int i = 0; i < ts.size() - 1; i++) {
- Point s = interpolate(seg.start, seg.end, ts.get(i));
- Point e = interpolate(seg.start, seg.end, ts.get(i + 1));
- // 妫�鏌ヤ腑鐐规槸鍚﹀湪闅滅鐗╁唴
- if (!isInside(new Point((s.x + e.x) / 2, (s.y + e.y) / 2))) {
- res.add(new PathSegment(s, e, seg.isMowing));
- }
- }
- return res;
- }
+
+ return reconnected;
}
-
- static class CircleObstacle extends Obstacle {
- Point center; double radius;
- public CircleObstacle(Point c, double r) { this.center = c; this.radius = r; }
-
- @Override
- boolean isInside(Point p) { return Math.hypot(p.x - center.x, p.y - center.y) < radius - 1e-4; }
-
- @Override
- List<PathSegment> clipSegment(PathSegment seg) {
- List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
- double dx = seg.end.x - seg.start.x, dy = seg.end.y - seg.start.y;
- double fx = seg.start.x - center.x, fy = seg.start.y - center.y;
- double a = dx * dx + dy * dy;
- double b = 2 * (fx * dx + fy * dy);
- double c = fx * fx + fy * fy - radius * radius;
- double disc = b * b - 4 * a * c;
- if (disc >= 0) {
- disc = Math.sqrt(disc);
- double t1 = (-b - disc) / (2 * a), t2 = (-b + disc) / (2 * a);
- if (t1 > 0 && t1 < 1) ts.add(t1);
- if (t2 > 0 && t2 < 1) ts.add(t2);
- }
- Collections.sort(ts);
- List<PathSegment> res = new ArrayList<>();
- for (int i = 0; i < ts.size() - 1; i++) {
- Point s = interpolate(seg.start, seg.end, ts.get(i));
- Point e = interpolate(seg.start, seg.end, ts.get(i + 1));
- if (!isInside(new Point((s.x + e.x) / 2, (s.y + e.y) / 2))) res.add(new PathSegment(s, e, seg.isMowing));
- }
- return res;
- }
- }
-
- // --- 鍐呴儴绠楁硶涓庢暟瀛︽敮鎸� ---
-
- private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
+
+ /**
+ * 鐢熸垚鍘熷鎵弿璺緞锛堟棤闅滅鐗╃増鏈級
+ */
+ private static List<PathSegment> generateGlobalScanPath(
+ List<Point> polygon, double width, double angle, Point currentPos) {
+
List<PathSegment> segments = new ArrayList<>();
- List<Point> rotated = new ArrayList<>();
- for (Point p : polygon) rotated.add(rotatePoint(p, -angle));
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
- for (Point p : rotated) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
-
- boolean l2r = true;
+ for (Point p : rotatedPoly) {
+ minY = Math.min(minY, p.y);
+ maxY = Math.max(maxY, p.y);
+ }
+
+ boolean leftToRight = true;
for (double y = minY + width/2; y <= maxY - width/2; y += width) {
- List<Double> xInters = getXIntersections(rotated, y);
- if (xInters.size() < 2) continue;
- Collections.sort(xInters);
-
- List<PathSegment> row = new ArrayList<>();
- for (int i = 0; i < xInters.size() - 1; i += 2) {
- Point s = rotatePoint(new Point(xInters.get(i), y), angle);
- Point e = rotatePoint(new Point(xInters.get(i + 1), y), angle);
- row.add(new PathSegment(s, e, true));
+ List<Double> xIntersections = getXIntersections(rotatedPoly, y);
+ if (xIntersections.size() < 2) continue;
+ Collections.sort(xIntersections);
+
+ List<PathSegment> lineSegmentsInRow = new ArrayList<>();
+ for (int i = 0; i < xIntersections.size() - 1; i += 2) {
+ Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
+ Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
+ lineSegmentsInRow.add(new PathSegment(pS, pE, true));
}
- if (!l2r) {
- Collections.reverse(row);
- for (PathSegment s : row) { Point t = s.start; s.start = s.end; s.end = t; }
+
+ if (!leftToRight) {
+ Collections.reverse(lineSegmentsInRow);
+ for (PathSegment s : lineSegmentsInRow) {
+ Point temp = s.start;
+ s.start = s.end;
+ s.end = temp;
+ }
}
- for (PathSegment s : row) {
- if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
+
+ for (PathSegment s : lineSegmentsInRow) {
+ if (distance(currentPos, s.start) > 0.01) {
segments.add(new PathSegment(currentPos, s.start, false));
}
segments.add(s);
currentPos = s.end;
}
- l2r = !l2r;
+ leftToRight = !leftToRight;
}
+
return segments;
}
-
- private static double getIntersectionT(Point a, Point b, Point c, Point d) {
- double ux = b.x - a.x, uy = b.y - a.y, vx = d.x - c.x, vy = d.y - c.y;
- double det = vx * uy - vy * ux;
- if (Math.abs(det) < 1e-6) return -1;
- return (vx * (c.y - a.y) - vy * (c.x - a.x)) / det;
+
+ /**
+ * 瑙ｆ瀽闅滅鐗╁瓧绗︿覆
+ * 鏍煎紡锛�"(x1,y1;x2,y2)(x1,y1;x2,y2;x3,y3)"
+ */
+ private static List<Obstacle> parseObstacles(String obstaclesStr) {
+ List<Obstacle> obstacles = new ArrayList<>();
+ if (obstaclesStr == null || obstaclesStr.trim().isEmpty()) {
+ return obstacles;
+ }
+
+ String trimmed = obstaclesStr.trim();
+ List<String> obstacleStrs = new ArrayList<>();
+
+ // 鍒嗗壊姣忎釜闅滅鐗╋紙鐢ㄦ嫭鍙峰垎闅旓級
+ int start = trimmed.indexOf('(');
+ while (start != -1) {
+ int end = trimmed.indexOf(')', start);
+ if (end == -1) break;
+
+ String obsStr = trimmed.substring(start + 1, end);
+ obstacleStrs.add(obsStr);
+ start = trimmed.indexOf('(', end);
+ }
+
+ // 瑙ｆ瀽姣忎釜闅滅鐗�
+ for (String obsStr : obstacleStrs) {
+ List<Point> points = new ArrayList<>();
+ String[] pairs = obsStr.split(";");
+
+ for (String pair : pairs) {
+ String[] xy = pair.split(",");
+ if (xy.length == 2) {
+ points.add(new Point(
+ Double.parseDouble(xy[0].trim()),
+ Double.parseDouble(xy[1].trim())
+ ));
+ }
+ }
+
+ if (points.size() == 2) {
+ // 鍦嗗舰闅滅鐗╋細绗竴涓偣涓哄渾蹇冿紝绗簩涓偣涓哄渾涓婁竴鐐�
+ Point center = points.get(0);
+ Point onCircle = points.get(1);
+ double radius = distance(center, onCircle);
+ obstacles.add(new Obstacle(center, radius));
+ } else if (points.size() > 2) {
+ // 澶氳竟褰㈤殰纰嶇墿
+ obstacles.add(new Obstacle(points));
+ }
+ }
+
+ return obstacles;
}
-
- private static Point interpolate(Point a, Point b, double t) {
- return new Point(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t);
+
+ /**
+ * 澶栨墿闅滅鐗╋紙澧炲姞瀹夊叏杈硅窛锛�
+ */
+ private static List<Obstacle> expandObstacles(List<Obstacle> obstacles, double margin) {
+ List<Obstacle> expanded = new ArrayList<>();
+
+ for (Obstacle obs : obstacles) {
+ if (obs.isCircle()) {
+ // 鍦嗗舰锛氬崐寰勫鍔犲畨鍏ㄨ竟璺�
+ expanded.add(new Obstacle(obs.center, obs.radius + margin));
+ } else {
+ // 澶氳竟褰細鍚戝鍋忕Щ锛堜笌杈圭晫鍐呯缉鏂瑰悜鐩稿弽锛�
+ List<Point> expandedPoints = getOutsetPolygon(obs.points, margin);
+ expanded.add(new Obstacle(expandedPoints));
+ }
+ }
+
+ return expanded;
}
+
+ /**
+ * 澶氳竟褰㈠鎵╋紙涓庡唴缂╂柟鍚戠浉鍙嶏級
+ */
+ private static List<Point> getOutsetPolygon(List<Point> points, double margin) {
+ // 杩欓噷浣跨敤绠�鍖栫殑澶栨墿鏂规硶锛氭部娉曠嚎鍚戝绉诲姩
+ List<Point> outset = new ArrayList<>();
+ int n = points.size();
+
+ for (int i = 0; i < n; i++) {
+ Point pPrev = points.get((i - 1 + n) % n);
+ Point pCurr = points.get(i);
+ Point pNext = points.get((i + 1) % n);
+
+ // 璁＄畻涓や釜杈圭殑鍚戦噺
+ double v1x = pCurr.x - pPrev.x, v1y = pCurr.y - pPrev.y;
+ double v2x = pNext.x - pCurr.x, v2y = pNext.y - pCurr.y;
+
+ // 璁＄畻娉曠嚎锛堢‘淇濆悜澶栵級
+ double nx1 = -v1y, ny1 = v1x;
+ double nx2 = -v2y, ny2 = v2x;
+
+ // 褰掍竴鍖�
+ double len1 = Math.hypot(nx1, ny1);
+ double len2 = Math.hypot(nx2, ny2);
+ if (len1 > 1e-6) { nx1 /= len1; ny1 /= len1; }
+ if (len2 > 1e-6) { nx2 /= len2; ny2 /= len2; }
+
+ // 璁＄畻骞冲潎娉曠嚎鏂瑰悜
+ double nx = (nx1 + nx2) / 2;
+ double ny = (ny1 + ny2) / 2;
+ double len = Math.hypot(nx, ny);
+ if (len > 1e-6) {
+ nx /= len;
+ ny /= len;
+ }
+
+ // 鍚戝绉诲姩
+ outset.add(new Point(
+ pCurr.x + nx * margin,
+ pCurr.y + ny * margin
+ ));
+ }
+
+ return outset;
+ }
+
+ /**
+ * 闅滅鐗╃被
+ */
+ private static class Obstacle {
+ List<Point> points; // 澶氳竟褰㈤《鐐癸紙瀵瑰渾褰负绌猴級
+ Point center; // 鍦嗗績锛堜粎瀵瑰渾褰㈡湁鏁堬級
+ double radius; // 鍗婂緞锛堜粎瀵瑰渾褰㈡湁鏁堬級
+ boolean isCircle;
+
+ // 澶氳竟褰㈡瀯閫犲嚱鏁�
+ Obstacle(List<Point> points) {
+ this.points = new ArrayList<>(points);
+ this.isCircle = false;
+ ensureCounterClockwise(this.points); // 纭繚椤烘椂閽堬紙瀵归殰纰嶇墿鏄唴閮ㄥ尯鍩燂級
+ }
+
+ // 鍦嗗舰鏋勯�犲嚱鏁�
+ Obstacle(Point center, double radius) {
+ this.center = new Point(center.x, center.y);
+ this.radius = radius;
+ this.isCircle = true;
+ this.points = new ArrayList<>();
+ }
+
+ // 鍒ゆ柇鐐规槸鍚﹀湪闅滅鐗╁唴閮�
+ boolean contains(Point p) {
+ if (isCircle) {
+ return distance(p, center) <= radius;
+ } else {
+ return isPointInPolygon(p, points);
+ }
+ }
+
+ // 鑾峰彇绾挎涓庨殰纰嶇墿鐨勪氦鐐�
+ List<Point> getIntersections(PathSegment segment) {
+ List<Point> intersections = new ArrayList<>();
+
+ if (isCircle) {
+ // 绾挎涓庡渾鐨勪氦鐐�
+ double dx = segment.end.x - segment.start.x;
+ double dy = segment.end.y - segment.start.y;
+ double a = dx * dx + dy * dy;
+ double b = 2 * (dx * (segment.start.x - center.x) +
+ dy * (segment.start.y - center.y));
+ double c = (segment.start.x - center.x) * (segment.start.x - center.x) +
+ (segment.start.y - center.y) * (segment.start.y - center.y) -
+ radius * radius;
+
+ double discriminant = b * b - 4 * a * c;
+ if (discriminant >= 0) {
+ discriminant = Math.sqrt(discriminant);
+ for (int sign = -1; sign <= 1; sign += 2) {
+ double t = (-b + sign * discriminant) / (2 * a);
+ if (t >= 0 && t <= 1) {
+ intersections.add(new Point(
+ segment.start.x + t * dx,
+ segment.start.y + t * dy
+ ));
+ }
+ }
+ }
+ } else {
+ // 绾挎涓庡杈瑰舰鐨勪氦鐐�
+ for (int i = 0; i < points.size(); i++) {
+ Point p1 = points.get(i);
+ Point p2 = points.get((i + 1) % points.size());
+
+ Point inter = getLineIntersection(
+ segment.start, segment.end, p1, p2);
+ if (inter != null) {
+ intersections.add(inter);
+ }
+ }
+ }
+
+ return intersections;
+ }
+
+ boolean isCircle() {
+ return isCircle;
+ }
+ }
+
+ /**
+ * 鍒ゆ柇鐐规槸鍚﹀湪澶氳竟褰㈠唴閮紙灏勭嚎娉曪級
+ */
+ private static boolean isPointInPolygon(Point p, List<Point> polygon) {
+ boolean inside = false;
+ for (int i = 0, j = polygon.size() - 1; i < polygon.size(); j = i++) {
+ Point pi = polygon.get(i);
+ Point pj = polygon.get(j);
+
+ if (((pi.y > p.y) != (pj.y > p.y)) &&
+ (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y) + pi.x)) {
+ inside = !inside;
+ }
+ }
+ return inside;
+ }
+
+ /**
+ * 璁＄畻涓ゆ潯绾挎鐨勪氦鐐�
+ */
+ private static Point getLineIntersection(Point p1, Point p2, Point p3, Point p4) {
+ double denom = (p1.x - p2.x) * (p3.y - p4.y) - (p1.y - p2.y) * (p3.x - p4.x);
+ if (Math.abs(denom) < 1e-6) return null; // 骞宠
+
+ double t = ((p1.x - p3.x) * (p3.y - p4.y) - (p1.y - p3.y) * (p3.x - p4.x)) / denom;
+ double u = -((p1.x - p2.x) * (p1.y - p3.y) - (p1.y - p2.y) * (p1.x - p3.x)) / denom;
+
+ if (t >= 0 && t <= 1 && u >= 0 && u <= 1) {
+ return new Point(
+ p1.x + t * (p2.x - p1.x),
+ p1.y + t * (p2.y - p1.y)
+ );
+ }
+ return null;
+ }
+
+ /**
+ * 璁＄畻涓ょ偣璺濈
+ */
+ private static double distance(Point p1, Point p2) {
+ return Math.hypot(p1.x - p2.x, p1.y - p2.y);
+ }
+
+ // ============ 浠ヤ笅鏄粠A浠ｇ爜澶嶇敤鐨勬柟娉� ============
+
+ private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
+ double minY = Double.MAX_VALUE;
+ for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
+
+ double firstY = minY + width/2;
+ List<Double> xInter = getXIntersections(rotatedPoly, firstY);
+ if (xInter.isEmpty()) return polygon.get(0);
+ Collections.sort(xInter);
+ return rotatePoint(new Point(xInter.get(0), firstY), angle);
+ }
+
+ private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
+ int bestIdx = 0;
+ double minDist = Double.MAX_VALUE;
+ for (int i = 0; i < boundary.size(); i++) {
+ double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
+ if (d < minDist) { minDist = d; bestIdx = i; }
+ }
+ List<Point> aligned = new ArrayList<>();
+ for (int i = 0; i < boundary.size(); i++) {
+ aligned.add(boundary.get((bestIdx + i) % boundary.size()));
+ }
+ return aligned;
+ }
+
+ private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
+ List<Double> xIntersections = new ArrayList<>();
+ for (int i = 0; i < rotatedPoly.size(); i++) {
+ Point p1 = rotatedPoly.get(i);
+ Point p2 = rotatedPoly.get((i + 1) % rotatedPoly.size());
+ if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
+ double x = p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y);
+ xIntersections.add(x);
+ }
+ }
+ return xIntersections;
+ }
+
+ private static double findOptimalAngle(List<Point> polygon) {
+ double bestAngle = 0;
+ double minHeight = Double.MAX_VALUE;
+ 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 = calculateHeightAtAngle(polygon, angle);
+ if (h < minHeight) { minHeight = h; bestAngle = angle; }
+ }
+ return bestAngle;
+ }
+
+ private static double calculateHeightAtAngle(List<Point> poly, double angle) {
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ for (Point p : poly) {
+ Point rp = rotatePoint(p, -angle);
+ minY = Math.min(minY, rp.y); maxY = Math.max(maxY, rp.y);
+ }
+ return maxY - minY;
+ }
+
+ private static List<Point> getInsetPolygon(List<Point> points, double margin) {
+ List<Point> result = new ArrayList<>();
+ int n = points.size();
+ for (int i = 0; i < n; i++) {
+ Point pPrev = points.get((i - 1 + n) % n);
+ Point pCurr = points.get(i);
+ Point pNext = points.get((i + 1) % n);
- private static Point rotatePoint(Point p, double ang) {
- double cos = Math.cos(ang), sin = Math.sin(ang);
+ 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);
+
+ if (l1 < 1e-6 || l2 < 1e-6) continue;
+
+ double n1x = -d1y / l1, n1y = d1x / l1;
+ double n2x = -d2y / l2, n2y = d2x / l2;
+
+ double bisectorX = n1x + n2x, bisectorY = n1y + n2y;
+ double bLen = Math.hypot(bisectorX, bisectorY);
+ if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; }
+ else { bisectorX /= bLen; bisectorY /= bLen; }
+
+ double cosHalfAngle = n1x * bisectorX + n1y * bisectorY;
+ double dist = margin / Math.max(cosHalfAngle, 0.1);
+
+ dist = Math.min(dist, margin * 5);
+
+ result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist));
+ }
+ return result;
+ }
+
+ private static Point rotatePoint(Point p, double angle) {
+ double cos = Math.cos(angle), sin = Math.sin(angle);
return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos);
}
-
- private static List<Double> getXIntersections(List<Point> poly, double y) {
- List<Double> res = new ArrayList<>();
- for (int i = 0; i < poly.size(); i++) {
- Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
- if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
- res.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
- }
+
+ private static void ensureCounterClockwise(List<Point> points) {
+ double sum = 0;
+ for (int i = 0; i < points.size(); i++) {
+ Point p1 = points.get(i), p2 = points.get((i + 1) % points.size());
+ sum += (p2.x - p1.x) * (p2.y + p1.y);
}
- return res;
+ if (sum > 0) Collections.reverse(points);
}
-
- private static Point getFirstScanPoint(List<Point> poly, double w, double a) {
- List<Point> rot = new ArrayList<>();
- for (Point p : poly) rot.add(rotatePoint(p, -a));
- double minY = Double.MAX_VALUE;
- for (Point p : rot) minY = Math.min(minY, p.y);
- List<Double> xs = getXIntersections(rot, minY + w/2);
- if (xs.isEmpty()) return poly.get(0);
- Collections.sort(xs);
- return rotatePoint(new Point(xs.get(0), minY + w/2), a);
- }
-
- private static List<Point> alignBoundaryStart(List<Point> poly, Point target) {
- int idx = 0; double minD = Double.MAX_VALUE;
- for (int i = 0; i < poly.size(); i++) {
- double d = Math.hypot(poly.get(i).x - target.x, poly.get(i).y - target.y);
- if (d < minD) { minD = d; idx = i; }
+
+ private static List<Point> parseCoordinates(String coordinates) {
+ List<Point> points = new ArrayList<>();
+ String[] pairs = coordinates.split(";");
+ for (String pair : pairs) {
+ String[] xy = pair.split(",");
+ if (xy.length == 2) points.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
}
- List<Point> res = new ArrayList<>();
- for (int i = 0; i < poly.size(); i++) res.add(poly.get((idx + i) % poly.size()));
- return res;
+ if (points.size() > 1 && points.get(0).equals(points.get(points.size()-1))) points.remove(points.size()-1);
+ return points;
}
-
- private static double findOptimalAngle(List<Point> poly) {
- double bestA = 0, minH = Double.MAX_VALUE;
- 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 miY = Double.MAX_VALUE, maY = -Double.MAX_VALUE;
- for (Point p : poly) {
- Point r = rotatePoint(p, -a);
- miY = Math.min(miY, r.y); maY = Math.max(maY, r.y);
- }
- if (maY - miY < minH) { minH = maY - miY; bestA = a; }
- }
- return bestA;
- }
-
- private static void ensureCounterClockwise(List<Point> pts) {
- double s = 0;
- for (int i = 0; i < pts.size(); i++) {
- Point p1 = pts.get(i), p2 = pts.get((i + 1) % pts.size());
- s += (p2.x - p1.x) * (p2.y + p1.y);
- }
- if (s > 0) Collections.reverse(pts);
- }
-
- private static List<Point> parseCoordinates(String s) {
- List<Point> pts = new ArrayList<>();
- if (s == null || s.isEmpty()) return pts;
- for (String p : s.split(";")) {
- String[] xy = p.split(",");
- if (xy.length == 2) pts.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
- }
- if (pts.size() > 1 && pts.get(0).equals(pts.get(pts.size() - 1))) pts.remove(pts.size() - 1);
- return pts;
- }
-
+
public static class Point {
public double x, y;
public Point(double x, double y) { this.x = x; this.y = y; }
@@ -365,10 +620,15 @@
return Math.abs(x - p.x) < 1e-4 && Math.abs(y - p.y) < 1e-4;
}
}
-
+
public static class PathSegment {
public Point start, end;
public boolean isMowing;
- public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
+ public PathSegment(Point s, Point e, boolean m) {
+ this.start = s;
+ this.end = e;
+ this.isMowing = m;
+ }
}
-}
\ No newline at end of file
+}
+
--
Gitblit v1.10.0