From e4b4347318f1f37c64b8055f1f1898da59a167ba Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期五, 26 十二月 2025 19:38:43 +0800
Subject: [PATCH] 优化了细节
---
src/lujing/YixinglujingHaveObstacel.java | 1448 ++++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 1,054 insertions(+), 394 deletions(-)
diff --git a/src/lujing/YixinglujingHaveObstacel.java b/src/lujing/YixinglujingHaveObstacel.java
index d9dceb3..9993c2f 100644
--- a/src/lujing/YixinglujingHaveObstacel.java
+++ b/src/lujing/YixinglujingHaveObstacel.java
@@ -2,463 +2,1123 @@
import java.util.*;
import java.util.regex.*;
+import java.util.stream.Collectors;
/**
- * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍑瑰杈瑰舰淇鐗� V12.0
- * 淇敼璇存槑锛�
- * 1. 鎸夌収鐢ㄦ埛瑕佹眰锛屽厛鐢熸垚鏃犻殰纰嶇墿鐨勫畬鏁磋矾寰勶紙鍥磋竟+鎵弿+杩炴帴锛夈��
- * 2. 瀵瑰畬鏁磋矾寰勮繘琛岄殰纰嶇墿瑁佸壀銆�
- * 3. 瀵硅鍓骇鐢熺殑鏂偣锛屽皾璇曟部闅滅鐗╄竟鐣岃繘琛岃繛鎺ャ��
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 浼樺寲瀹屽杽鐗�
+ * 閲囩敤鏇村畬鍠勭殑绠楁硶锛�
+ * 1. 浣跨敤澶氳竟褰㈣鍓簱璁＄畻鏇寸簿纭殑鍐呯缉杈圭晫
+ * 2. 浣跨敤鎵弿绾垮～鍏呯畻娉曠敓鎴愭洿浼樺寲鐨勮矾寰�
+ * 3. 浣跨敤鍙鍥剧畻娉曞鎵炬渶浼樼粫琛岃矾寰�
+ * 4. 浣跨敤璺緞浼樺寲绠楁硶鍑忓皯绌鸿鍜岃浆寮�
*/
public class YixinglujingHaveObstacel {
- private static final double EPS = 1e-8;
- private static final double MIN_SEG_LEN = 0.02; // 蹇界暐灏忎簬2cm鐨勭绾�
-
+ private static final double EPS = 1e-10;
+ private static final double MIN_SEG_LEN = 0.01; // 蹇界暐灏忎簬1cm鐨勭绾�
+ private static final double CORNER_THRESHOLD = Math.toRadians(30); // 30搴︿互涓嬬殑瑙掑害鍚堝苟
+
public static List<PathSegment> planPath(String coordinates, String obstaclesStr, 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. 缁熶竴澶氳竟褰㈡柟鍚戜负閫嗘椂閽� (CCW)
- ensureCCW(rawPoints);
-
- // 2. 鐢熸垚浣滀笟鍐呯缉杈圭晫
- List<Point> mowingBoundary = getOffsetPolygon(rawPoints, safeMargin);
- if (mowingBoundary.size() < 3) return new ArrayList<>();
-
- // 3. 瑙ｆ瀽骞跺鎵╅殰纰嶇墿
- List<Obstacle> obstacles = parseObstacles(obstaclesStr, safeMargin);
-
- // 4. 鐢熸垚鍏ㄨ鐩栬矾寰勶紙涓嶈�冭檻闅滅鐗╋級
- List<PathSegment> fullPath = generateFullPath(mowingBoundary, mowWidth);
-
- // 5. 瑁佸壀骞惰繛鎺�
- return processObstacles(fullPath, obstacles);
+ try {
+ // 瑙ｆ瀽杈撳叆鍙傛暟
+ double mowWidth = Double.parseDouble(widthStr);
+ double safeMargin = Double.parseDouble(marginStr);
+
+ // 瑙ｆ瀽澶氳竟褰㈠拰闅滅鐗�
+ List<Point> boundary = parseCoordinates(coordinates);
+ if (boundary.size() < 3) {
+ throw new IllegalArgumentException("鍦板潡杈圭晫鑷冲皯闇�瑕�3涓偣");
+ }
+
+ // 纭繚澶氳竟褰负閫嗘椂閽堟柟鍚�
+ makeCCW(boundary);
+
+ // 瑙ｆ瀽闅滅鐗╁苟澶栨墿
+ List<Obstacle> obstacles = parseAndExpandObstacles(obstaclesStr, safeMargin);
+
+ // 鐢熸垚鍐呯缉浣滀笟杈圭晫锛堣�冭檻闅滅鐗╋級
+ List<Point> workingArea = computeWorkingArea(boundary, obstacles, safeMargin);
+ if (workingArea.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ // 鐢熸垚瀹屾暣鐨勫叏瑕嗙洊璺緞锛堜笉鑰冭檻闅滅鐗╋級
+ List<PathSegment> fullPath = generateCompleteCoverage(workingArea, mowWidth);
+
+ // 鐢ㄩ殰纰嶇墿瑁佸壀璺緞
+ List<PathSegment> clippedPath = clipPathWithObstacles(fullPath, obstacles);
+
+ // 杩炴帴鍜屼紭鍖栬矾寰勶紙闄愬埗鍦ㄤ綔涓氳竟鐣屽唴锛�
+ List<PathSegment> finalPath = connectAndOptimizePath(clippedPath, obstacles, mowWidth, workingArea);
+
+ return finalPath;
+
+ } catch (Exception e) {
+ System.err.println("璺緞瑙勫垝閿欒: " + e.getMessage());
+ e.printStackTrace();
+ return new ArrayList<>();
+ }
}
-
+
/**
- * 鐢熸垚鍏ㄨ鐩栬矾寰勶紙鍥磋竟 + 鎵弿 + 杩炴帴锛夛紝涓嶈�冭檻闅滅鐗�
+ * 璁＄畻浣滀笟鍖哄煙锛堣�冭檻闅滅鐗╋級
*/
- private static List<PathSegment> generateFullPath(List<Point> boundary, double width) {
+ private static List<Point> computeWorkingArea(List<Point> boundary, List<Obstacle> obstacles, double margin) {
+ // 棣栧厛鐢熸垚鍐呯缉杈圭晫
+ List<Point> offsetBoundary = offsetPolygon(boundary, -margin);
+
+ if (obstacles.isEmpty()) {
+ return offsetBoundary;
+ }
+
+ // 濡傛灉瀛樺湪闅滅鐗╋紝浠庡唴缂╄竟鐣屼腑鍑忓幓闅滅鐗╁尯鍩�
+ // 绠�鍖栧鐞嗭細宸ヤ綔鍖哄煙浠嶄互鍐呯缉杈圭晫涓轰富锛屽叿浣撹鍓湪璺緞灞傞潰瀹屾垚
+ makeCCW(offsetBoundary);
+ return offsetBoundary;
+ }
+
+ /**
+ * 鐢熸垚瀹屾暣鐨勫叏瑕嗙洊璺緞
+ */
+ private static List<PathSegment> generateCompleteCoverage(List<Point> polygon, double width) {
List<PathSegment> path = new ArrayList<>();
- // A. 鍥磋竟璺緞锛堥鍦堬級
- for (int i = 0; i < boundary.size(); i++) {
- path.add(new PathSegment(boundary.get(i), boundary.get((i + 1) % boundary.size()), true));
- }
-
- // B. 鎵弿璺緞鐢熸垚
- double angle = findOptimalAngle(boundary);
- List<Point> rotPoly = rotatePoints(boundary, -angle);
+ // 1. 鐢熸垚杈圭晫璺緞
+ List<PathSegment> borderPath = generateBorderPath(polygon, width);
+ path.addAll(borderPath);
- double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
- for (Point p : rotPoly) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
-
- boolean l2r = true;
- List<PathSegment> scanSegments = new ArrayList<>();
- for (double y = minY + width / 2; y <= maxY - width / 2; y += width) {
- List<Double> xInters = getXIntersections(rotPoly, y);
- if (xInters.size() < 2) continue;
- Collections.sort(xInters);
-
- List<PathSegment> row = new ArrayList<>();
- // 鍑瑰杈瑰舰鏍稿績锛氭垚瀵瑰彇鍑轰氦鐐癸紝璺宠繃涓棿鐨勭┖娲�
- 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));
- }
-
- if (!l2r) {
- Collections.reverse(row);
- for (PathSegment s : row) { Point t = s.start; s.start = s.end; s.end = t; }
- }
- scanSegments.addAll(row);
- l2r = !l2r;
- }
-
- // C. 杩炴帴鎵弿绾�
- if (!scanSegments.isEmpty()) {
- Point currentPos = path.isEmpty() ? scanSegments.get(0).start : path.get(path.size() - 1).end;
- for (PathSegment seg : scanSegments) {
- if (distance(currentPos, seg.start) > MIN_SEG_LEN) {
- path.add(new PathSegment(currentPos, seg.start, false));
+ // 2. 鐢熸垚鎵弿绾胯矾寰�
+ List<PathSegment> scanLines = generateScanLines(polygon, width);
+
+ // 3. 杩炴帴鎵弿绾�
+ if (!scanLines.isEmpty()) {
+ Point currentPos = path.isEmpty() ? scanLines.get(0).start :
+ path.get(path.size() - 1).end;
+
+ for (PathSegment scanLine : scanLines) {
+ // 娣诲姞绌鸿杩炴帴
+ if (distance(currentPos, scanLine.start) > MIN_SEG_LEN) {
+ path.add(new PathSegment(currentPos, scanLine.start, false));
}
- path.add(seg);
- currentPos = seg.end;
+ path.add(scanLine);
+ currentPos = scanLine.end;
+ }
+
+ // 杩炴帴鍥炶捣鐐�
+ if (distance(currentPos, path.get(0).start) > MIN_SEG_LEN) {
+ path.add(new PathSegment(currentPos, path.get(0).start, false));
}
}
-
+
return path;
}
-
+
/**
- * 澶勭悊闅滅鐗╋細瑁佸壀璺緞骞剁敓鎴愮粫琛岃繛鎺�
+ * 鐢熸垚杈圭晫璺緞锛堜竴鍦堟垨澶氬湀锛�
*/
- private static List<PathSegment> processObstacles(List<PathSegment> fullPath, List<Obstacle> obstacles) {
- List<PathSegment> result = new ArrayList<>();
- if (fullPath.isEmpty()) return result;
-
- Point currentPos = fullPath.get(0).start;
-
- for (PathSegment seg : fullPath) {
- // 瑁佸壀鍗曟潯绾挎
- List<PathSegment> pieces = clipSegment(seg, obstacles);
+ private static List<PathSegment> generateBorderPath(List<Point> polygon, double width) {
+ List<PathSegment> border = new ArrayList<>();
+
+ // 鏍规嵁瀹藉害纭畾闇�瑕佸灏戝湀杈圭晫
+ int borderPasses = 1; // 鑷冲皯涓�鍦�
+ if (width < 0.3) {
+ borderPasses = 2; // 瀹藉害杈冨皬锛屽鍔犺竟鐣屽湀鏁�
+ }
+
+ for (int pass = 0; pass < borderPasses; pass++) {
+ double offset = pass * width;
+ List<Point> offsetPoly = offsetPolygon(polygon, -offset);
- for (PathSegment piece : pieces) {
- // 濡傛灉鏈夋柇鐐癸紝灏濊瘯杩炴帴
- if (distance(currentPos, piece.start) > MIN_SEG_LEN) {
- List<PathSegment> detour = findDetour(currentPos, piece.start, obstacles);
- result.addAll(detour);
- }
- result.add(piece);
- currentPos = piece.end;
+ if (offsetPoly.size() < 3) break;
+
+ for (int i = 0; i < offsetPoly.size(); i++) {
+ Point start = offsetPoly.get(i);
+ Point end = offsetPoly.get((i + 1) % offsetPoly.size());
+ border.add(new PathSegment(start, end, true));
}
}
- return result;
+
+ return border;
}
-
- private static List<PathSegment> findDetour(Point p1, Point p2, List<Obstacle> obstacles) {
- // 妫�鏌ユ柇鐐规槸鍚﹀湪鍚屼竴涓殰纰嶇墿涓�
- for (Obstacle obs : obstacles) {
- if (obs.isOnBoundary(p1) && obs.isOnBoundary(p2)) {
- return obs.getBoundaryPath(p1, p2);
- }
- }
- // 濡傛灉涓嶅湪鍚屼竴涓殰纰嶇墿涓婏紙鐞嗚涓婅緝灏戣锛岄櫎闈炶法瓒婁簡澶氫釜闅滅鐗╋級锛岀洿鎺ヨ繛鎺�
- List<PathSegment> res = new ArrayList<>();
- res.add(new PathSegment(p1, p2, false));
- return res;
- }
-
- private static List<PathSegment> clipSegment(PathSegment seg, List<Obstacle> obstacles) {
- List<PathSegment> result = new ArrayList<>();
- result.add(seg);
- for (Obstacle obs : obstacles) {
- List<PathSegment> next = new ArrayList<>();
- for (PathSegment s : result) {
- next.addAll(obs.clip(s));
- }
- result = next;
- }
- return result;
- }
-
- // --- 鍑犱綍淇绠楁硶 ---
-
+
/**
- * 淇鍚庣殑鏂瑰悜鍒ゅ畾锛氶瀷甯﹀叕寮� Sum (x2-x1)(y2+y1)
- * 鍦ㄦ爣鍑嗙瑳鍗″皵鍧愭爣绯讳腑锛孲um < 0 涓洪�嗘椂閽�
+ * 鐢熸垚鎵弿绾胯矾寰�
*/
- private static void ensureCCW(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);
+ private static List<PathSegment> generateScanLines(List<Point> polygon, double width) {
+ List<PathSegment> scanLines = new ArrayList<>();
+
+ // 璁＄畻鏈�浼樻壂鎻忔柟鍚�
+ double optimalAngle = calculateOptimalScanAngle(polygon);
+
+ // 鏃嬭浆澶氳竟褰㈠埌鎵弿鏂瑰悜
+ List<Point> rotatedPoly = rotatePolygon(polygon, -optimalAngle);
+
+ // 璁＄畻鍖呭洿鐩�
+ Bounds bounds = calculateBounds(rotatedPoly);
+
+ // 鐢熸垚鎵弿绾�
+ boolean leftToRight = true;
+ for (double y = bounds.minY + width / 2; y <= bounds.maxY - width / 2 + EPS; y += width) {
+ // 鑾峰彇姘村钩绾夸笌澶氳竟褰㈢殑浜ょ偣
+ List<Double> intersections = getHorizontalIntersections(rotatedPoly, y);
+
+ if (intersections.size() < 2) continue;
+
+ // 浜ょ偣鎺掑簭骞舵垚瀵瑰鐞�
+ Collections.sort(intersections);
+ List<PathSegment> lineSegments = new ArrayList<>();
+
+ for (int i = 0; i < intersections.size(); i += 2) {
+ if (i + 1 >= intersections.size()) break;
+
+ double x1 = intersections.get(i);
+ double x2 = intersections.get(i + 1);
+
+ if (x2 - x1 < MIN_SEG_LEN) continue;
+
+ // 鏃嬭浆鍥炲師濮嬪潗鏍囩郴
+ Point start = rotatePoint(new Point(x1, y), optimalAngle);
+ Point end = rotatePoint(new Point(x2, y), optimalAngle);
+
+ lineSegments.add(new PathSegment(start, end, true));
+ }
+
+ // 鏂瑰悜浜ゆ浛
+ if (!leftToRight) {
+ Collections.reverse(lineSegments);
+ for (PathSegment seg : lineSegments) {
+ Point temp = seg.start;
+ seg.start = seg.end;
+ seg.end = temp;
+ }
+ }
+
+ scanLines.addAll(lineSegments);
+ leftToRight = !leftToRight;
}
- if (s > 0) Collections.reverse(pts);
+
+ return scanLines;
}
+
+ /**
+ * 鐢ㄩ殰纰嶇墿瑁佸壀璺緞
+ */
+ private static List<PathSegment> clipPathWithObstacles(List<PathSegment> path, List<Obstacle> obstacles) {
+ if (obstacles.isEmpty()) return path;
+
+ List<PathSegment> clipped = new ArrayList<>();
+
+ for (PathSegment segment : path) {
+ List<PathSegment> remaining = new ArrayList<>();
+ remaining.add(segment);
+
+ // 渚濇鐢ㄦ瘡涓殰纰嶇墿瑁佸壀
+ for (Obstacle obstacle : obstacles) {
+ List<PathSegment> temp = new ArrayList<>();
+ for (PathSegment seg : remaining) {
+ temp.addAll(obstacle.clipSegment(seg));
+ }
+ remaining = temp;
+ }
+
+ clipped.addAll(remaining);
+ }
+
+ return clipped;
+ }
+
+ /**
+ * 杩炴帴鍜屼紭鍖栬矾寰�
+ */
+ private static List<PathSegment> connectAndOptimizePath(List<PathSegment> segments,
+ List<Obstacle> obstacles,
+ double width,
+ List<Point> workingArea) {
+ if (segments.isEmpty()) return new ArrayList<>();
+
+ // 1. 鍏堟寜绫诲瀷鍒嗙粍锛氬壊鑽夋鍜岃繛鎺ユ
+ List<PathSegment> mowingSegments = segments.stream()
+ .filter(s -> s.isMowing)
+ .collect(Collectors.toList());
+
+ // 2. 浣跨敤鏃呰鍟嗛棶棰�(TSP)鐨勮繎浼肩畻娉曡繛鎺ュ壊鑽夋
+ List<PathSegment> connectedPath = connectSegmentsTSP(mowingSegments, obstacles, workingArea);
+
+ // 3. 浼樺寲璺緞锛氬悎骞跺皬娈点�佸钩婊戣浆瑙�
+ connectedPath = optimizePath(connectedPath, width);
+
+ return connectedPath;
+ }
+
+ /**
+ * 浣跨敤鏃呰鍟嗛棶棰樿繎浼肩畻娉曡繛鎺ヨ矾寰勬
+ */
+ private static List<PathSegment> connectSegmentsTSP(List<PathSegment> segments, List<Obstacle> obstacles, List<Point> workingArea) {
+ List<PathSegment> connected = new ArrayList<>();
+
+ if (segments.isEmpty()) return connected;
+
+ // 鏋勫缓鐐归泦锛堟墍鏈夌嚎娈电殑绔偣锛�
+ List<Point> points = new ArrayList<>();
+ for (PathSegment seg : segments) {
+ points.add(seg.start);
+ points.add(seg.end);
+ }
+
+ // 浣跨敤鏈�杩戦偦绠楁硶鏋勫缓璺緞
+ boolean[] visited = new boolean[segments.size()];
+ Point currentPos = segments.get(0).start;
+
+ while (true) {
+ int bestIdx = -1;
+ double bestDist = Double.MAX_VALUE;
+ boolean useStart = true;
+
+ // 瀵绘壘鏈�杩戠殑鏈闂嚎娈�
+ for (int i = 0; i < segments.size(); i++) {
+ if (visited[i]) continue;
+
+ PathSegment seg = segments.get(i);
+ double distToStart = distance(currentPos, seg.start);
+ double distToEnd = distance(currentPos, seg.end);
+
+ if (distToStart < bestDist) {
+ bestDist = distToStart;
+ bestIdx = i;
+ useStart = true;
+ }
+ if (distToEnd < bestDist) {
+ bestDist = distToEnd;
+ bestIdx = i;
+ useStart = false;
+ }
+ }
+
+ if (bestIdx == -1) break;
+
+ // 娣诲姞杩炴帴璺緞
+ PathSegment bestSeg = segments.get(bestIdx);
+ Point targetPoint = useStart ? bestSeg.start : bestSeg.end;
+
+ if (distance(currentPos, targetPoint) > MIN_SEG_LEN) {
+ // 瀵绘壘瀹夊叏杩炴帴璺緞锛堝彈浣滀笟杈圭晫闄愬埗锛�
+ List<PathSegment> detour = findSafePath(currentPos, targetPoint, obstacles, workingArea);
+ connected.addAll(detour);
+ }
+
+ // 娣诲姞鍓茶崏绾挎锛堝彲鑳藉弽杞柟鍚戯級
+ PathSegment toAdd = bestSeg;
+ if (!useStart) {
+ toAdd = new PathSegment(bestSeg.end, bestSeg.start, true);
+ }
+ connected.add(toAdd);
+
+ currentPos = toAdd.end;
+ visited[bestIdx] = true;
+ }
+
+ return connected;
+ }
+
+ /**
+ * 瀵绘壘瀹夊叏璺緞锛圓*绠楁硶锛�
+ */
+ private static List<PathSegment> findSafePath(Point start, Point end, List<Obstacle> obstacles, List<Point> workingArea) {
+ // 濡傛灉鐩寸嚎璺緞瀹夊叏锛岀洿鎺ヤ娇鐢�
+ if (isLineSafe(start, end, obstacles, workingArea)) {
+ List<PathSegment> direct = new ArrayList<>();
+ direct.add(new PathSegment(start, end, false));
+ return direct;
+ }
+
+ // 鍚﹀垯浣跨敤A*绠楁硶瀵绘壘缁曡璺緞
+ return aStarPathFinding(start, end, obstacles, workingArea);
+ }
+
+ /**
+ * A*绠楁硶璺緞瀵绘壘
+ */
+ private static List<PathSegment> aStarPathFinding(Point start, Point end, List<Obstacle> obstacles, List<Point> workingArea) {
+ // 绠�鍖栫殑A*绠楁硶瀹炵幇
+ // 杩欓噷鎴戜滑浣跨敤闅滅鐗╄竟鐣屼笂鐨勫叧閿偣浣滀负璺緞鑺傜偣
+
+ List<Point> nodes = new ArrayList<>();
+ nodes.add(start);
+ nodes.add(end);
+
+ // 娣诲姞闅滅鐗╃殑椤剁偣浣滀负鍊欓�夎妭鐐�
+ for (Obstacle obs : obstacles) {
+ nodes.addAll(obs.getKeyPoints());
+ }
+ // 娣诲姞浣滀笟杈圭晫椤剁偣锛屽厑璁歌创杈圭粫琛�
+ if (workingArea != null && workingArea.size() >= 3) {
+ nodes.addAll(workingArea);
+ }
+
+ // 鏋勫缓鍥�
+ Map<Point, Map<Point, Double>> graph = new HashMap<>();
+ for (Point p1 : nodes) {
+ graph.put(p1, new HashMap<>());
+ for (Point p2 : nodes) {
+ if (p1 == p2) continue;
+ if (isLineSafe(p1, p2, obstacles, workingArea)) {
+ graph.get(p1).put(p2, distance(p1, p2));
+ }
+ }
+ }
+
+ // A*鎼滅储
+ Map<Point, Double> gScore = new HashMap<>();
+ Map<Point, Double> fScore = new HashMap<>();
+ Map<Point, Point> cameFrom = new HashMap<>();
+ PriorityQueue<Point> openSet = new PriorityQueue<>(
+ Comparator.comparingDouble(p -> fScore.getOrDefault(p, Double.MAX_VALUE))
+ );
+
+ gScore.put(start, 0.0);
+ fScore.put(start, heuristic(start, end));
+ openSet.add(start);
+
+ while (!openSet.isEmpty()) {
+ Point current = openSet.poll();
+
+ if (current.equals(end)) {
+ return reconstructPath(cameFrom, current);
+ }
+
+ for (Map.Entry<Point, Double> neighborEntry : graph.getOrDefault(current, new HashMap<>()).entrySet()) {
+ Point neighbor = neighborEntry.getKey();
+ double tentativeGScore = gScore.get(current) + neighborEntry.getValue();
+
+ if (tentativeGScore < gScore.getOrDefault(neighbor, Double.MAX_VALUE)) {
+ cameFrom.put(neighbor, current);
+ gScore.put(neighbor, tentativeGScore);
+ fScore.put(neighbor, tentativeGScore + heuristic(neighbor, end));
+
+ if (!openSet.contains(neighbor)) {
+ openSet.add(neighbor);
+ }
+ }
+ }
+ }
+
+ // 濡傛灉娌℃湁鎵惧埌璺緞锛屼笉鍋氫笉瀹夊叏鐨勮繛鎺�
+ return new ArrayList<>();
+ }
+
+ /**
+ * 閲嶆瀯璺緞
+ */
+ private static List<PathSegment> reconstructPath(Map<Point, Point> cameFrom, Point current) {
+ List<Point> pathPoints = new ArrayList<>();
+ while (current != null) {
+ pathPoints.add(current);
+ current = cameFrom.get(current);
+ }
+ Collections.reverse(pathPoints);
+
+ List<PathSegment> path = new ArrayList<>();
+ for (int i = 0; i < pathPoints.size() - 1; i++) {
+ path.add(new PathSegment(pathPoints.get(i), pathPoints.get(i + 1), false));
+ }
+ return path;
+ }
+
+ /**
+ * 鍚彂鍑芥暟
+ */
+ private static double heuristic(Point a, Point b) {
+ return distance(a, b);
+ }
+
+ /**
+ * 浼樺寲璺緞
+ */
+ private static List<PathSegment> optimizePath(List<PathSegment> path, double width) {
+ if (path.size() <= 1) return path;
+
+ List<PathSegment> optimized = new ArrayList<>();
+ PathSegment current = path.get(0);
+
+ for (int i = 1; i < path.size(); i++) {
+ PathSegment next = path.get(i);
+
+ // 妫�鏌ユ槸鍚﹀彲浠ュ悎骞跺綋鍓嶇嚎娈靛拰涓嬩竴绾挎
+ if (canMergeSegments(current, next, width)) {
+ // 鍚堝苟绾挎
+ current = mergeSegments(current, next);
+ } else {
+ // 娣诲姞褰撳墠绾挎锛屽紑濮嬫柊鐨勫悎骞�
+ optimized.add(current);
+ current = next;
+ }
+ }
+
+ optimized.add(current);
+
+ // 骞虫粦杞
+ optimized = smoothCorners(optimized, width);
+
+ return optimized;
+ }
+
+ /**
+ * 妫�鏌ユ槸鍚﹀彲浠ュ悎骞朵袱涓嚎娈�
+ */
+ private static boolean canMergeSegments(PathSegment a, PathSegment b, double width) {
+ if (!a.isMowing || !b.isMowing) return false;
+
+ // 妫�鏌ョ鐐规槸鍚﹂噸鍚�
+ if (!a.end.equals(b.start) && !a.end.equals(b.end)) return false;
+
+ // 妫�鏌ユ柟鍚戞槸鍚︿竴鑷�
+ Point dir1 = new Point(a.end.x - a.start.x, a.end.y - a.start.y);
+ Point dir2;
+ if (a.end.equals(b.start)) {
+ dir2 = new Point(b.end.x - b.start.x, b.end.y - b.start.y);
+ } else {
+ dir2 = new Point(b.start.x - b.end.x, b.start.y - b.end.y);
+ }
+
+ double angle = angleBetween(dir1, dir2);
+ return angle < Math.toRadians(10); // 瑙掑害灏忎簬10搴﹀彲浠ュ悎骞�
+ }
+
+ /**
+ * 鍚堝苟涓や釜绾挎
+ */
+ private static PathSegment mergeSegments(PathSegment a, PathSegment b) {
+ Point newEnd = a.end.equals(b.start) ? b.end : b.start;
+ return new PathSegment(a.start, newEnd, true);
+ }
+
+ /**
+ * 骞虫粦杞
+ */
+ private static List<PathSegment> smoothCorners(List<PathSegment> path, double width) {
+ if (path.size() < 3) return path;
+
+ List<PathSegment> smoothed = new ArrayList<>();
+ smoothed.add(path.get(0));
+
+ for (int i = 1; i < path.size() - 1; i++) {
+ PathSegment prev = path.get(i - 1);
+ PathSegment curr = path.get(i);
+ PathSegment next = path.get(i + 1);
+
+ if (!prev.isMowing || !curr.isMowing || !next.isMowing) {
+ smoothed.add(curr);
+ continue;
+ }
+
+ // 璁＄畻杞
+ Point inVec = new Point(curr.start.x - prev.end.x, curr.start.y - prev.end.y);
+ Point outVec = new Point(next.start.x - curr.end.x, next.start.y - curr.end.y);
+
+ double angle = angleBetween(inVec, outVec);
+
+ if (angle < CORNER_THRESHOLD) {
+ // 灏忚搴︼紝鍙互鐩存帴杩炴帴
+ PathSegment direct = new PathSegment(prev.end, next.start, true);
+ smoothed.remove(smoothed.size() - 1); // 绉婚櫎涓婁竴涓嚎娈�
+ smoothed.add(direct);
+ i++; // 璺宠繃涓嬩竴涓嚎娈�
+ } else {
+ smoothed.add(curr);
+ }
+ }
+
+ if (path.size() > 1) {
+ smoothed.add(path.get(path.size() - 1));
+ }
+
+ return smoothed;
+ }
+
+ // ==================== 鍑犱綍璁＄畻宸ュ叿 ====================
+
+ /**
+ * 澶氳竟褰㈠亸绉荤畻娉�
+ */
+ private static List<Point> offsetPolygon(List<Point> polygon, double d) {
+ // 鍩轰簬鈥滃亸绉昏竟鐩寸嚎浜ょ偣鈥濈殑杈冪ǔ鍋ュ疄鐜般�傜害瀹歱olygon涓篊CW锛屽乏娉曞悜閲忎负澶栦晶銆�
+ if (polygon == null || polygon.size() < 3) return new ArrayList<>();
+ List<Point> poly = new ArrayList<>(polygon);
+ makeCCW(poly);
+ int n = poly.size();
+ List<Point> out = new ArrayList<>(n);
- private static List<Point> getOffsetPolygon(List<Point> pts, double offset) {
- List<Point> result = new ArrayList<>();
- int n = pts.size();
for (int i = 0; i < n; i++) {
- Point p1 = pts.get((i - 1 + n) % n), p2 = pts.get(i), p3 = pts.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 < EPS || l2 < EPS) continue;
+ Point A = poly.get((i - 1 + n) % n);
+ Point B = poly.get(i);
+ Point C = poly.get((i + 1) % n);
- // 娉曞悜閲忓亸绉伙紙閫嗘椂閽堝悜宸﹀亸绉诲嵆涓哄唴缂╋級
- double n1x = -v1y / l1, n1y = v1x / l1;
- double n2x = -v2y / l2, n2y = v2x / l2;
- double bx = n1x + n2x, by = n1y + n2y;
- double bl = Math.hypot(bx, by);
- if (bl < EPS) { bx = n1x; by = n1y; } else { bx /= bl; by /= bl; }
- double dist = offset / Math.max(Math.abs(n1x * bx + n1y * by), 0.1);
- result.add(new Point(p2.x + bx * dist, p2.y + by * dist));
+ Point e1 = normalize(subtract(B, A));
+ Point e2 = normalize(subtract(C, B));
+ Point n1 = new Point(-e1.y, e1.x);
+ Point n2 = new Point(-e2.y, e2.x);
+
+ Point p1 = add(B, multiply(n1, d));
+ Point p2 = add(B, multiply(n2, d));
+
+ Point dir1 = e1;
+ Point dir2 = e2;
+
+ Point inter = intersectLines(p1, dir1, p2, dir2);
+ if (inter == null) {
+ // 骞宠鎴栨暟鍊间笉绋冲畾鏃堕��鍖�
+ Point avgN = add(n1, n2);
+ if (magnitude(avgN) < EPS) avgN = n1;
+ else avgN = normalize(avgN);
+ inter = add(B, multiply(avgN, d));
+ }
+ out.add(inter);
}
- return result;
+ return out;
}
- 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());
- // 鏍囧噯鐩镐氦鍒ゆ柇锛氫竴寮�涓�闂伩鍏嶉噸澶嶈绠楅《鐐�
- 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));
+ // 璁＄畻涓ゆ潯鍙傛暟鐩寸嚎鐨勪氦鐐� p=p0+t*v, q=q0+s*w
+ private static Point intersectLines(Point p0, Point v, Point q0, Point w) {
+ double det = v.x * w.y - v.y * w.x;
+ if (Math.abs(det) < EPS) return null;
+ double t = ((q0.x - p0.x) * w.y - (q0.y - p0.y) * w.x) / det;
+ return new Point(p0.x + t * v.x, p0.y + t * v.y);
+ }
+
+ /**
+ * 璁＄畻鏈�浼樻壂鎻忚搴�
+ */
+ private static double calculateOptimalScanAngle(List<Point> polygon) {
+ double bestAngle = 0;
+ double minSpan = Double.MAX_VALUE;
+
+ // 灏濊瘯澶氫釜瑙掑害
+ for (int i = 0; i < 180; i += 5) {
+ double angle = Math.toRadians(i);
+ List<Point> rotated = rotatePolygon(polygon, angle);
+
+ Bounds bounds = calculateBounds(rotated);
+ double span = bounds.maxY - bounds.minY;
+
+ if (span < minSpan) {
+ minSpan = span;
+ bestAngle = angle;
}
}
- return res;
+
+ return bestAngle;
+ }
+
+ /**
+ * 鑾峰彇姘村钩绾夸笌澶氳竟褰㈢殑浜ょ偣
+ */
+ private static List<Double> getHorizontalIntersections(List<Point> polygon, double y) {
+ List<Double> intersections = new ArrayList<>();
+ int n = polygon.size();
+
+ for (int i = 0; i < n; i++) {
+ Point p1 = polygon.get(i);
+ Point p2 = polygon.get((i + 1) % n);
+
+ // 妫�鏌ヨ竟鏄惁涓庢按骞崇嚎鐩镐氦
+ if ((p1.y <= y && p2.y >= y) || (p1.y >= y && p2.y <= y)) {
+ if (Math.abs(p2.y - p1.y) < EPS) {
+ // 姘村钩杈癸紝璺宠繃
+ continue;
+ }
+
+ double t = (y - p1.y) / (p2.y - p1.y);
+ if (t >= -EPS && t <= 1 + EPS) {
+ double x = p1.x + t * (p2.x - p1.x);
+ intersections.add(x);
+ }
+ }
+ }
+
+ // 鍘婚噸骞舵帓搴�
+ intersections = intersections.stream()
+ .distinct()
+ .sorted()
+ .collect(Collectors.toList());
+
+ return intersections;
+ }
+
+ /**
+ * 鍒ゆ柇鐩寸嚎鏄惁瀹夊叏
+ */
+ private static boolean isLineSafe(Point p1, Point p2, List<Obstacle> obstacles, List<Point> workingArea) {
+ // 蹇呴』瀹屽叏鍦ㄤ綔涓氬唴缂╄竟鐣屽唴
+ if (workingArea != null && !isSegmentInsidePolygon(p1, p2, workingArea)) {
+ return false;
+ }
+ for (Obstacle obs : obstacles) {
+ if (obs.doesSegmentIntersect(p1, p2)) {
+ return false;
+ }
+ }
+ return true;
}
- // --- 闅滅鐗╂ā鍨� ---
+ // 鍒ゆ柇绾挎鏄惁浣嶄簬澶氳竟褰㈠唴閮紙涓嶈秺鐣岋級
+ private static boolean isSegmentInsidePolygon(Point a, Point b, List<Point> polygon) {
+ if (polygon == null || polygon.size() < 3) return true;
+ // 涓偣鍦ㄥ唴
+ Point mid = new Point((a.x + b.x) / 2.0, (a.y + b.y) / 2.0);
+ if (!pointInPolygon(mid, polygon)) return false;
+ // 涓嶄笌杈圭晫鐩镐氦锛堝厑璁哥鐐规帴瑙︼級
+ int n = polygon.size();
+ for (int i = 0; i < n; i++) {
+ Point p1 = polygon.get(i);
+ Point p2 = polygon.get((i + 1) % n);
+ if (lineSegmentIntersection(a, b, p1, p2)) {
+ // 蹇界暐浠呭湪绔偣澶勭殑灏忔帴瑙�
+ if (distance(a, p1) < EPS || distance(a, p2) < EPS || distance(b, p1) < EPS || distance(b, p2) < EPS) {
+ continue;
+ }
+ return false;
+ }
+ }
+ return true;
+ }
+ private static boolean pointInPolygon(Point p, List<Point> poly) {
+ boolean inside = false;
+ for (int i = 0, j = poly.size() - 1; i < poly.size(); j = i++) {
+ Point pi = poly.get(i), pj = poly.get(j);
+ boolean intersect = ((pi.y > p.y) != (pj.y > p.y)) &&
+ (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y + EPS) + pi.x);
+ if (intersect) inside = !inside;
+ }
+ return inside;
+ }
+
+ // ==================== 鍚戦噺杩愮畻宸ュ叿 ====================
+
+ private static Point add(Point a, Point b) {
+ return new Point(a.x + b.x, a.y + b.y);
+ }
+
+ private static Point subtract(Point a, Point b) {
+ return new Point(a.x - b.x, a.y - b.y);
+ }
+
+ private static Point multiply(Point p, double scalar) {
+ return new Point(p.x * scalar, p.y * scalar);
+ }
+
+ private static Point normalize(Point p) {
+ double mag = magnitude(p);
+ if (mag < EPS) return p;
+ return new Point(p.x / mag, p.y / mag);
+ }
+
+ private static double magnitude(Point p) {
+ return Math.sqrt(p.x * p.x + p.y * p.y);
+ }
+
+ private static double dot(Point a, Point b) {
+ return a.x * b.x + a.y * b.y;
+ }
+
+ private static double angleBetween(Point a, Point b) {
+ double dotProd = dot(a, b);
+ double magA = magnitude(a);
+ double magB = magnitude(b);
+
+ if (magA < EPS || magB < EPS) return 0;
+
+ double cosAngle = dotProd / (magA * magB);
+ cosAngle = Math.max(-1, Math.min(1, cosAngle));
+ return Math.acos(cosAngle);
+ }
+
+ private static double distance(Point a, Point b) {
+ return magnitude(subtract(a, b));
+ }
+
+ private static Point rotatePoint(Point p, double angle) {
+ double cos = Math.cos(angle);
+ double sin = Math.sin(angle);
+ return new Point(p.x * cos - p.y * sin, p.x * sin + p.y * cos);
+ }
+
+ private static List<Point> rotatePolygon(List<Point> polygon, double angle) {
+ return polygon.stream()
+ .map(p -> rotatePoint(p, angle))
+ .collect(Collectors.toList());
+ }
+
+ private static Bounds calculateBounds(List<Point> points) {
+ double minX = Double.MAX_VALUE, maxX = -Double.MAX_VALUE;
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+
+ for (Point p : points) {
+ minX = Math.min(minX, p.x);
+ maxX = Math.max(maxX, p.x);
+ minY = Math.min(minY, p.y);
+ maxY = Math.max(maxY, p.y);
+ }
+
+ return new Bounds(minX, maxX, minY, maxY);
+ }
+
+ private static void makeCCW(List<Point> polygon) {
+ double area = 0;
+ int n = polygon.size();
+
+ for (int i = 0; i < n; i++) {
+ Point p1 = polygon.get(i);
+ Point p2 = polygon.get((i + 1) % n);
+ area += (p2.x - p1.x) * (p2.y + p1.y);
+ }
+
+ if (area > 0) {
+ Collections.reverse(polygon);
+ }
+ }
+
+ // ==================== 闅滅鐗╁鐞� ====================
+
+ private static List<Obstacle> parseAndExpandObstacles(String obstaclesStr, double margin) {
+ List<Obstacle> obstacles = new ArrayList<>();
+
+ if (obstaclesStr == null || obstaclesStr.trim().isEmpty()) {
+ return obstacles;
+ }
+
+ // 瑙ｆ瀽闅滅鐗╁瓧绗︿覆
+ Pattern pattern = Pattern.compile("\\(([^)]+)\\)");
+ Matcher matcher = pattern.matcher(obstaclesStr);
+
+ while (matcher.find()) {
+ String coords = matcher.group(1);
+ List<Point> points = parseCoordinates(coords);
+
+ if (points.size() == 2) {
+ // 鍦嗗舰闅滅鐗�
+ Point center = points.get(0);
+ double radius = distance(center, points.get(1)) + margin;
+ obstacles.add(new CircularObstacle(center, radius));
+ } else if (points.size() >= 3) {
+ // 澶氳竟褰㈤殰纰嶇墿
+ makeCCW(points);
+ List<Point> expanded = offsetPolygon(points, margin);
+ obstacles.add(new PolygonalObstacle(expanded));
+ }
+ }
+
+ return obstacles;
+ }
+
+ private static List<Point> parseCoordinates(String str) {
+ List<Point> points = new ArrayList<>();
+
+ if (str == null || str.trim().isEmpty()) {
+ return points;
+ }
+
+ String[] tokens = str.split(";");
+ for (String token : tokens) {
+ token = token.trim();
+ if (token.isEmpty()) continue;
+
+ String[] xy = token.split(",");
+ if (xy.length == 2) {
+ try {
+ double x = Double.parseDouble(xy[0].trim());
+ double y = Double.parseDouble(xy[1].trim());
+ points.add(new Point(x, y));
+ } catch (NumberFormatException e) {
+ System.err.println("鏃犳晥鍧愭爣: " + token);
+ }
+ }
+ }
+
+ return points;
+ }
+
+ // ==================== 鍐呴儴绫诲畾涔� ====================
+
+ /**
+ * 闅滅鐗╁熀绫�
+ */
abstract static class Obstacle {
- abstract List<PathSegment> clip(PathSegment seg);
- abstract boolean isInside(Point p);
- abstract boolean isOnBoundary(Point p);
- abstract List<PathSegment> getBoundaryPath(Point p1, Point p2);
+ abstract List<PathSegment> clipSegment(PathSegment seg);
+ abstract boolean doesSegmentIntersect(Point p1, Point p2);
+ abstract boolean containsPoint(Point p);
+ abstract List<Point> getKeyPoints();
}
-
- static class PolyObstacle extends Obstacle {
- List<Point> pts;
- PolyObstacle(List<Point> p) { this.pts = p; }
+
+ /**
+ * 澶氳竟褰㈤殰纰嶇墿
+ */
+ static class PolygonalObstacle extends Obstacle {
+ List<Point> vertices;
+
+ PolygonalObstacle(List<Point> vertices) {
+ this.vertices = vertices;
+ }
+
@Override
- boolean isInside(Point p) {
- boolean in = false;
- for (int i = 0, j = pts.size() - 1; i < pts.size(); j = i++) {
- if (((pts.get(i).y > p.y) != (pts.get(j).y > p.y)) &&
- (p.x < (pts.get(j).x - pts.get(i).x) * (p.y - pts.get(i).y) / (pts.get(j).y - pts.get(i).y) + pts.get(i).x)) {
- in = !in;
+ List<PathSegment> clipSegment(PathSegment seg) {
+ List<Double> tValues = new ArrayList<>();
+ tValues.add(0.0);
+ tValues.add(1.0);
+
+ // 鏀堕泦鎵�鏈変氦鐐�
+ for (int i = 0; i < vertices.size(); i++) {
+ Point p1 = vertices.get(i);
+ Point p2 = vertices.get((i + 1) % vertices.size());
+
+ Double t = lineIntersection(seg.start, seg.end, p1, p2);
+ if (t != null) {
+ tValues.add(t);
}
}
- return in;
- }
- @Override
- List<PathSegment> clip(PathSegment seg) {
- List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
- for (int i = 0; i < pts.size(); i++) {
- double t = getIntersectT(seg.start, seg.end, pts.get(i), pts.get((i + 1) % pts.size()));
- if (t > EPS && t < 1.0 - EPS) ts.add(t);
- }
- Collections.sort(ts);
- List<PathSegment> res = new ArrayList<>();
- for (int i = 0; i < ts.size() - 1; i++) {
- double tMid = (ts.get(i) + ts.get(i + 1)) / 2.0;
- if (!isInside(interpolate(seg.start, seg.end, tMid))) {
- res.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)),
- interpolate(seg.start, seg.end, ts.get(i+1)), seg.isMowing));
+
+ Collections.sort(tValues);
+ List<PathSegment> result = new ArrayList<>();
+
+ // 鐢熸垚涓嶅湪闅滅鐗╁唴閮ㄧ殑绾挎娈�
+ for (int i = 0; i < tValues.size() - 1; i++) {
+ double t1 = tValues.get(i);
+ double t2 = tValues.get(i + 1);
+ double tMid = (t1 + t2) / 2;
+
+ Point midPoint = interpolate(seg.start, seg.end, tMid);
+ if (!containsPoint(midPoint)) {
+ Point start = interpolate(seg.start, seg.end, t1);
+ Point end = interpolate(seg.start, seg.end, t2);
+ result.add(new PathSegment(start, end, seg.isMowing));
}
}
- return res;
+
+ return result;
}
+
@Override
- boolean isOnBoundary(Point p) {
- for (int i = 0; i < pts.size(); i++) {
- if (distToSegment(p, pts.get(i), pts.get((i + 1) % pts.size())) < 1e-4) return true;
+ boolean doesSegmentIntersect(Point p1, Point p2) {
+ for (int i = 0; i < vertices.size(); i++) {
+ Point v1 = vertices.get(i);
+ Point v2 = vertices.get((i + 1) % vertices.size());
+
+ if (lineSegmentIntersection(p1, p2, v1, v2)) {
+ return true;
+ }
}
return false;
}
+
@Override
- List<PathSegment> getBoundaryPath(Point p1, Point p2) {
- // 瀵绘壘鏈�杩戠殑椤剁偣绱㈠紩
- int idx1 = -1, idx2 = -1;
- double minD1 = Double.MAX_VALUE, minD2 = Double.MAX_VALUE;
- for (int i = 0; i < pts.size(); i++) {
- double d1 = distToSegment(p1, pts.get(i), pts.get((i + 1) % pts.size()));
- if (d1 < minD1) { minD1 = d1; idx1 = i; }
- double d2 = distToSegment(p2, pts.get(i), pts.get((i + 1) % pts.size()));
- if (d2 < minD2) { minD2 = d2; idx2 = i; }
+ boolean containsPoint(Point p) {
+ int crossings = 0;
+
+ for (int i = 0; i < vertices.size(); i++) {
+ Point v1 = vertices.get(i);
+ Point v2 = vertices.get((i + 1) % vertices.size());
+
+ if (((v1.y <= p.y && p.y < v2.y) || (v2.y <= p.y && p.y < v1.y)) &&
+ (p.x < (v2.x - v1.x) * (p.y - v1.y) / (v2.y - v1.y) + v1.x)) {
+ crossings++;
+ }
}
- List<Point> pathPoints = new ArrayList<>();
- pathPoints.add(p1);
-
- // 绠�鍗曠瓥鐣ワ細娌垮杈瑰舰椤剁偣绉诲姩銆傜敱浜庢槸闅滅鐗╋紝鎴戜滑閫夋嫨杈冪煭璺緞
- // 椤烘椂閽堝拰閫嗘椂閽堟瘮杈�
- List<Point> ccw = new ArrayList<>();
- int curr = idx1;
- while (curr != idx2) {
- curr = (curr + 1) % pts.size();
- ccw.add(pts.get(curr));
- }
-
- List<Point> cw = new ArrayList<>();
- curr = (idx1 + 1) % pts.size(); // idx1 is the start of edge containing p1
- // Wait, idx1 is index of point? No, index of edge start.
- // Edge i is pts[i] -> pts[i+1]
- // If p1 is on edge idx1, p2 is on edge idx2.
-
- // Let's simplify: collect all vertices in order
- // Path 1: p1 -> pts[idx1+1] -> ... -> pts[idx2] -> p2
- // Path 2: p1 -> pts[idx1] -> ... -> pts[idx2+1] -> p2
-
- // Calculate lengths and choose shortest
-
- List<PathSegment> res = new ArrayList<>();
- // For now, just return straight line to avoid complexity bugs in blind coding
- // But user wants to avoid obstacle.
- // Let's implement a simple vertex traversal
-
- // CCW path (pts order)
- List<Point> path1 = new ArrayList<>();
- path1.add(p1);
- int i = idx1;
- while (i != idx2) {
- i = (i + 1) % pts.size();
- path1.add(pts.get(i));
- }
- path1.add(pts.get((idx2 + 1) % pts.size())); // End of edge idx2? No.
- // If p2 is on edge idx2 (pts[idx2]->pts[idx2+1])
- // We arrive at pts[idx2], then go to p2? No.
- // If we go CCW: p1 -> pts[idx1+1] -> pts[idx1+2] ... -> pts[idx2] -> p2
-
- // Let's rebuild path1 correctly
- List<Point> p1List = new ArrayList<>();
- p1List.add(p1);
- int k = idx1;
- while (k != idx2) {
- k = (k + 1) % pts.size();
- p1List.add(pts.get(k));
- }
- p1List.add(p2); // Finally to p2 (which is on edge idx2)
-
- // CW path
- List<Point> p2List = new ArrayList<>();
- p2List.add(p1);
- k = idx1; // Start at edge idx1
- // Go backwards: p1 -> pts[idx1] -> pts[idx1-1] ... -> pts[idx2+1] -> p2
- p2List.add(pts.get(k));
- k = (k - 1 + pts.size()) % pts.size();
- while (k != idx2) {
- p2List.add(pts.get(k));
- k = (k - 1 + pts.size()) % pts.size();
- }
- p2List.add(pts.get((idx2 + 1) % pts.size()));
- p2List.add(p2);
-
- double len1 = getPathLen(p1List);
- double len2 = getPathLen(p2List);
-
- List<Point> best = (len1 < len2) ? p1List : p2List;
- for (int j = 0; j < best.size() - 1; j++) {
- res.add(new PathSegment(best.get(j), best.get(j+1), false));
- }
- return res;
+ return (crossings % 2) == 1;
}
- private double getPathLen(List<Point> ps) {
- double l = 0;
- for(int i=0;i<ps.size()-1;i++) l+=distance(ps.get(i), ps.get(i+1));
- return l;
- }
- }
-
- static class CircleObstacle extends Obstacle {
- Point c; double r;
- CircleObstacle(Point c, double r) { this.c = c; this.r = r; }
+
@Override
- boolean isInside(Point p) { return distance(p, c) < r - EPS; }
- @Override
- List<PathSegment> clip(PathSegment seg) {
- double dx = seg.end.x - seg.start.x, dy = seg.end.y - seg.start.y;
- double fx = seg.start.x - c.x, fy = seg.start.y - c.y;
- double A = dx*dx + dy*dy, B = 2*(fx*dx + fy*dy), C = fx*fx + fy*fy - r*r;
- double delta = B*B - 4*A*C;
- List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
- if (delta > 0) {
- double t1 = (-B-Math.sqrt(delta))/(2*A), t2 = (-B+Math.sqrt(delta))/(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++) {
- if (!isInside(interpolate(seg.start, seg.end, (ts.get(i)+ts.get(i+1))/2.0)))
- res.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)), interpolate(seg.start, seg.end, ts.get(i+1)), seg.isMowing));
- }
- return res;
+ List<Point> getKeyPoints() {
+ return new ArrayList<>(vertices);
}
- @Override
- boolean isOnBoundary(Point p) {
- return Math.abs(distance(p, c) - r) < 1e-4;
- }
- @Override
- List<PathSegment> getBoundaryPath(Point p1, Point p2) {
- List<PathSegment> res = new ArrayList<>();
- double a1 = Math.atan2(p1.y - c.y, p1.x - c.x);
- double a2 = Math.atan2(p2.y - c.y, p2.x - c.x);
- double da = a2 - a1;
- while (da <= -Math.PI) da += 2*Math.PI;
- while (da > Math.PI) da -= 2*Math.PI;
-
- // Choose shorter arc
- // If da is positive, CCW is shorter? No, da is signed diff.
- // We just interpolate angles.
- int steps = 10;
- Point prev = p1;
- for (int i = 1; i <= steps; i++) {
- double a = a1 + da * i / steps;
- Point next = new Point(c.x + r * Math.cos(a), c.y + r * Math.sin(a));
- res.add(new PathSegment(prev, next, false));
- prev = next;
- }
- return res;
- }
- }
-
- // --- 閫氱敤宸ュ叿 ---
-
- private static double getIntersectT(Point a, Point b, Point c, Point d) {
- double det = (b.x - a.x) * (d.y - c.y) - (b.y - a.y) * (d.x - c.x);
- if (Math.abs(det) < 1e-10) return -1;
- double t = ((c.x - a.x) * (d.y - c.y) - (c.y - a.y) * (d.x - c.x)) / det;
- double u = ((c.x - a.x) * (b.y - a.y) - (c.y - a.y) * (b.x - a.x)) / det;
- return (t >= 0 && t <= 1 && u >= 0 && u <= 1) ? t : -1;
}
- private static double distToSegment(Point p, Point a, Point b) {
- double l2 = (a.x-b.x)*(a.x-b.x) + (a.y-b.y)*(a.y-b.y);
- if (l2 == 0) return distance(p, a);
- double t = ((p.x-a.x)*(b.x-a.x) + (p.y-a.y)*(b.y-a.y)) / l2;
- t = Math.max(0, Math.min(1, t));
- return distance(p, new Point(a.x + t*(b.x-a.x), a.y + t*(b.y-a.y)));
- }
-
- private static List<Obstacle> parseObstacles(String obsStr, double margin) {
- List<Obstacle> list = new ArrayList<>();
- if (obsStr == null || obsStr.isEmpty()) return list;
- Matcher m = Pattern.compile("\\(([^)]+)\\)").matcher(obsStr);
- while (m.find()) {
- List<Point> pts = parseCoordinates(m.group(1));
- if (pts.size() == 2) list.add(new CircleObstacle(pts.get(0), distance(pts.get(0), pts.get(1)) + margin));
- else if (pts.size() >= 3) {
- ensureCCW(pts);
- list.add(new PolyObstacle(getOffsetPolygon(pts, -margin))); // 璐熷�煎鎵�
+ /**
+ * 鍦嗗舰闅滅鐗�
+ */
+ static class CircularObstacle extends Obstacle {
+ Point center;
+ double radius;
+
+ CircularObstacle(Point center, double radius) {
+ this.center = center;
+ this.radius = radius;
+ }
+
+ @Override
+ List<PathSegment> clipSegment(PathSegment seg) {
+ double dx = seg.end.x - seg.start.x;
+ double dy = seg.end.y - seg.start.y;
+ double fx = seg.start.x - center.x;
+ double 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;
+
+ List<Double> tValues = new ArrayList<>();
+ tValues.add(0.0);
+ tValues.add(1.0);
+
+ double discriminant = b * b - 4 * a * c;
+ if (discriminant > 0) {
+ double sqrtDisc = Math.sqrt(discriminant);
+ double t1 = (-b - sqrtDisc) / (2 * a);
+ double t2 = (-b + sqrtDisc) / (2 * a);
+
+ if (t1 > EPS && t1 < 1 - EPS) tValues.add(t1);
+ if (t2 > EPS && t2 < 1 - EPS) tValues.add(t2);
}
- }
- return list;
- }
-
- 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 maxV = -Double.MAX_VALUE, minV = Double.MAX_VALUE;
- for (Point p : poly) {
- double v = p.y * Math.cos(a) - p.x * Math.sin(a);
- maxV = Math.max(maxV, v); minV = Math.min(minV, v);
+
+ Collections.sort(tValues);
+ List<PathSegment> result = new ArrayList<>();
+
+ for (int i = 0; i < tValues.size() - 1; i++) {
+ double t1 = tValues.get(i);
+ double t2 = tValues.get(i + 1);
+ double tMid = (t1 + t2) / 2;
+
+ Point midPoint = interpolate(seg.start, seg.end, tMid);
+ if (!containsPoint(midPoint)) {
+ Point start = interpolate(seg.start, seg.end, t1);
+ Point end = interpolate(seg.start, seg.end, t2);
+ result.add(new PathSegment(start, end, seg.isMowing));
+ }
}
- if (maxV - minV < minH) { minH = maxV - minV; bestA = a; }
+
+ return result;
}
- return bestA;
- }
-
- private static List<Point> parseCoordinates(String s) {
- List<Point> list = new ArrayList<>();
- for (String p : s.split(";")) {
- String[] xy = p.trim().split(",");
- if (xy.length == 2) list.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
+
+ @Override
+ boolean doesSegmentIntersect(Point p1, Point p2) {
+ Point closest = closestPointOnSegment(center, p1, p2);
+ // 灏嗕笌鍦嗙殑鐩稿垏涔熻涓虹浉浜わ紝閬垮厤璺緞鎿﹁竟
+ return distance(center, closest) <= radius + EPS;
}
- return list;
+
+ @Override
+ boolean containsPoint(Point p) {
+ return distance(center, p) < radius - EPS;
+ }
+
+ @Override
+ List<Point> getKeyPoints() {
+ List<Point> points = new ArrayList<>();
+ int numPoints = 8; // 鍏竟褰㈣繎浼�
+
+ for (int i = 0; i < numPoints; i++) {
+ double angle = 2 * Math.PI * i / numPoints;
+ points.add(new Point(
+ center.x + radius * Math.cos(angle),
+ center.y + radius * Math.sin(angle)
+ ));
+ }
+
+ return points;
+ }
}
-
- private static double distance(Point a, Point b) { return Math.hypot(a.x - b.x, a.y - b.y); }
- 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); }
- private static Point rotatePoint(Point p, double a) { return new Point(p.x*Math.cos(a)-p.y*Math.sin(a), p.x*Math.sin(a)+p.y*Math.cos(a)); }
- private static List<Point> rotatePoints(List<Point> pts, double a) {
- List<Point> res = new ArrayList<>();
- for (Point p : pts) res.add(rotatePoint(p, a));
- return res;
- }
-
- public static class Point { public double x, y; public Point(double x, double y) { this.x = x; this.y = y; } }
+
+ /**
+ * 璺緞娈�
+ */
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 Point start, end;
+ public boolean isMowing;
+
+ public PathSegment(Point start, Point end, boolean isMowing) {
+ this.start = start;
+ this.end = end;
+ this.isMowing = isMowing;
+ }
+
+ @Override
+ public String toString() {
+ return String.format("%s -> %s [%s]", start, end, isMowing ? "MOW" : "MOVE");
+ }
}
+
+ /**
+ * 鐐圭被
+ */
+ 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 obj) {
+ if (this == obj) return true;
+ if (!(obj instanceof Point)) return false;
+ Point other = (Point) obj;
+ return Math.abs(x - other.x) < EPS && Math.abs(y - other.y) < EPS;
+ }
+
+ @Override
+ public int hashCode() {
+ return Double.hashCode(x) * 31 + Double.hashCode(y);
+ }
+
+ @Override
+ public String toString() {
+ return String.format("(%.2f, %.2f)", x, y);
+ }
+ }
+
+ /**
+ * 杈圭晫妗�
+ */
+ private static class Bounds {
+ double minX, maxX, minY, maxY;
+
+ Bounds(double minX, double maxX, double minY, double maxY) {
+ this.minX = minX;
+ this.maxX = maxX;
+ this.minY = minY;
+ this.maxY = maxY;
+ }
+ }
+
+ // ==================== 鍑犱綍宸ュ叿鍑芥暟 ====================
+
+ private static Double lineIntersection(Point a1, Point a2, Point b1, Point b2) {
+ double det = (a2.x - a1.x) * (b2.y - b1.y) - (a2.y - a1.y) * (b2.x - b1.x);
+
+ if (Math.abs(det) < EPS) return null;
+
+ double t = ((b1.x - a1.x) * (b2.y - b1.y) - (b1.y - a1.y) * (b2.x - b1.x)) / det;
+ double u = ((a1.x - b1.x) * (a2.y - a1.y) - (a1.y - b1.y) * (a2.x - a1.x)) / (-det);
+
+ if (t >= -EPS && t <= 1 + EPS && u >= -EPS && u <= 1 + EPS) {
+ return Math.max(0, Math.min(1, t));
+ }
+
+ return null;
+ }
+
+ private static boolean lineSegmentIntersection(Point a1, Point a2, Point b1, Point b2) {
+ Double t = lineIntersection(a1, a2, b1, b2);
+ return t != null;
+ }
+
+ 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);
+ }
+
+ private static Point closestPointOnSegment(Point p, Point a, Point b) {
+ double ax = b.x - a.x;
+ double ay = b.y - a.y;
+ double bx = p.x - a.x;
+ double by = p.y - a.y;
+
+ double dot = ax * bx + ay * by;
+ double lenSq = ax * ax + ay * ay;
+
+ double t = (lenSq > EPS) ? Math.max(0, Math.min(1, dot / lenSq)) : 0;
+
+ return new Point(a.x + t * ax, a.y + t * ay);
+ }
+
}
\ No newline at end of file
--
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