From dc0fb19555dc01bf873361c9cb6fc22fbfc9671d Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期二, 23 十二月 2025 17:50:13 +0800
Subject: [PATCH] 异形无障碍坐标规划优化
---
src/lujing/YixinglujingNoObstacle.java | 241 +++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 225 insertions(+), 16 deletions(-)
diff --git a/src/lujing/YixinglujingNoObstacle.java b/src/lujing/YixinglujingNoObstacle.java
index 1919731..67a5bb0 100644
--- a/src/lujing/YixinglujingNoObstacle.java
+++ b/src/lujing/YixinglujingNoObstacle.java
@@ -1,23 +1,232 @@
package lujing;
-import java.util.List;
-import java.util.ArrayList;
+import java.util.*;
/**
- * 鏃犻殰纰嶇墿寮傚舰鍦板潡璺緞瑙勫垝绫�
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍥磋竟+鍏ㄥ眬鎵弿鐗� V4.1
+ * 浼樺寲锛氬洿杈圭粓鐐逛笌寮撳瓧褰㈣捣鐐硅嚜鍔ㄥ榻愶紝瀹炵幇鏃犵紳鍒囨崲锛岀‘淇濊矾寰勪笉瓒婄晫
*/
public class YixinglujingNoObstacle {
-
- /**
- * 鐢熸垚璺緞
- * @param boundaryCoordsStr 鍦板潡杈圭晫鍧愭爣瀛楃涓� "x1,y1;x2,y2;..."
- * @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 mowingWidthStr, String safetyMarginStr) {
- // TODO: 瀹炵幇寮傚舰鍦板潡鏃犻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("YixinglujingNoObstacle.planPath 灏氭湭瀹炵幇");
+
+ public static List<PathSegment> planPath(String coordinates, String widthStr, String marginStr) {
+ List<Point> rawPoints = parseCoordinates(coordinates);
+ if (rawPoints.size() < 3) return new ArrayList<>();
+
+ double mowWidth = Double.parseDouble(widthStr);
+ double safeMargin = Double.parseDouble(marginStr);
+
+ // 1. 棰勫鐞嗭細閫嗘椂閽堝寲
+ ensureCounterClockwise(rawPoints);
+
+ // 2. 鐢熸垚鍐呯缉澶氳竟褰�
+ List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
+ if (boundary.size() < 3) return new ArrayList<>();
+
+ // 3. 纭畾鏈�浼樻壂鎻忚搴﹀苟鎵惧埌寮撳瓧褰㈣矾寰勭殑绗竴涓綔涓氳捣鐐�
+ double bestAngle = findOptimalAngle(boundary);
+ Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
+
+ // 4. 瀵归綈鍥磋竟璧风偣锛氶噸鏂版帓鍒楀洿杈瑰潗鏍囷紝浣挎渶鍚庝竴涓偣闈犺繎(鎴栫瓑浜�)鎵弿璧风偣
+ List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
+
+ List<PathSegment> finalPath = new ArrayList<>();
+
+ // 5. 銆愮涓�姝ャ�戠敓鎴愬洿杈硅矾寰�
+ 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));
+ }
+
+ // 6. 銆愮浜屾銆戜粠瀵归綈鍚庣殑缁堢偣寮�濮嬬敓鎴愬唴閮ㄦ壂鎻忚矾寰�
+ Point lastEdgePos = alignedBoundary.get(0); // 鍥磋竟闂悎鍥炲埌璧风偣
+ List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos);
+
+ finalPath.addAll(scanPath);
+
+ return finalPath;
}
-}
+
+ /**
+ * 璁＄畻骞惰幏鍙栨壂鎻忚矾寰勭殑绗竴琛岃捣鐐�
+ */
+ 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;
+ List<Double> xIntersections = getXIntersections(rotatedPoly, firstY);
+
+ if (xIntersections.isEmpty()) return polygon.get(0);
+ return rotatePoint(new Point(Collections.min(xIntersections), firstY), angle);
+ }
+
+ /**
+ * 閲嶆柊鎺掑垪澶氳竟褰㈤《鐐癸紝浣胯捣濮嬬偣涓庢壂鎻忚捣鐐瑰鎺�
+ */
+ 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<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
+ List<PathSegment> segments = new ArrayList<>();
+ 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 : rotatedPoly) {
+ minY = Math.min(minY, p.y);
+ maxY = Math.max(maxY, p.y);
+ }
+
+ boolean leftToRight = true;
+ // 浠� minY + width 寮�濮嬶紝閬垮紑鍥磋竟宸插壊鍖哄煙
+ for (double y = minY + width; y <= maxY - width/2; y += width) {
+ List<Double> xIntersections = getXIntersections(rotatedPoly, y);
+ if (xIntersections.size() < 2) continue;
+ Collections.sort(xIntersections);
+
+ List<PathSegment> lineRows = 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);
+ lineRows.add(new PathSegment(pS, pE, true));
+ }
+
+ if (!leftToRight) {
+ Collections.reverse(lineRows);
+ for (PathSegment s : lineRows) {
+ Point t = s.start; s.start = s.end; s.end = t;
+ }
+ }
+
+ for (PathSegment s : lineRows) {
+ // 濡傛灉闂磋窛鏋佸皬锛岃涓烘棤缂濊鎺�
+ if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.05) {
+ segments.add(new PathSegment(currentPos, s.start, false));
+ }
+ segments.add(s);
+ currentPos = s.end;
+ }
+ leftToRight = !leftToRight;
+ }
+ return segments;
+ }
+
+ 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);
+ 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);
+ 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 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);
+ }
+ if (sum > 0) Collections.reverse(points);
+ }
+
+ 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])));
+ }
+ if (points.size() > 1 && points.get(0).equals(points.get(points.size()-1))) points.remove(points.size()-1);
+ return points;
+ }
+
+ public static class Point {
+ public double x, y;
+ public Point(double x, double y) { this.x = x; this.y = y; }
+ @Override
+ public boolean equals(Object o) {
+ if (!(o instanceof Point)) return false;
+ Point p = (Point) o;
+ 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; }
+ }
+}
\ No newline at end of file
--
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