From 7881cef5c3dcea8e6037101db2c3eeb2fd3ba5da Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 23:42:36 +0800
Subject: [PATCH] 1211
---
src/lujing/YixinglujingHaveObstacel.java | 1075 +++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 647 insertions(+), 428 deletions(-)
diff --git a/src/lujing/YixinglujingHaveObstacel.java b/src/lujing/YixinglujingHaveObstacel.java
index d9dceb3..6a14dc4 100644
--- a/src/lujing/YixinglujingHaveObstacel.java
+++ b/src/lujing/YixinglujingHaveObstacel.java
@@ -1,464 +1,683 @@
package lujing;
-
import java.util.*;
-import java.util.regex.*;
+
/**
- * 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 - 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 {
-
- 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�
-
- 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. 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);
+ // 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);
+
+ // 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<>();
+
+ // 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));
+ }
+
+ // 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);
+
+ // 10. 鏍煎紡鍖栧潗鏍囷細淇濈暀涓や綅灏忔暟
+ for (PathSegment segment : finalPath) {
+ segment.start.x = Math.round(segment.start.x * 100.0) / 100.0;
+ segment.start.y = Math.round(segment.start.y * 100.0) / 100.0;
+ segment.end.x = Math.round(segment.end.x * 100.0) / 100.0;
+ segment.end.y = Math.round(segment.end.y * 100.0) / 100.0;
+ }
+
+ // 11. 鎵撳嵃杈撳嚭璺緞鍧愭爣
+ printPathCoordinates(finalPath);
+
+ return finalPath;
}
-
+
/**
- * 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�
+ * 鐢熸垚甯﹂殰纰嶇墿鐨勬壂鎻忚矾寰�
*/
- private static List<PathSegment> generateFullPath(List<Point> boundary, double width) {
- List<PathSegment> path = new ArrayList<>();
+ private static List<PathSegment> generateGlobalScanPathWithObstacles(
+ List<Point> polygon, List<Obstacle> obstacles,
+ double width, double angle, Point startPos) {
- // 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. 鐢熸垚鍘熷鎵弿绾匡紙鏃犻殰纰嶇墿锛�
+ List<PathSegment> originalSegments = generateGlobalScanPath(polygon, width, angle, startPos);
- 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));
+ // 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;
}
-
- 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));
+
+ // 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> newSegments = new ArrayList<>();
+ for (PathSegment s : clippedSegments) {
+ newSegments.addAll(clipSegmentWithObstacle(s, obs));
}
- path.add(seg);
+ clippedSegments = newSegments;
+ }
+
+ 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(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;
+ }
+
+ /**
+ * 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 path;
- }
-
- /**
- * 澶勭悊闅滅鐗╋細瑁佸壀璺緞骞剁敓鎴愮粫琛岃繛鎺�
- */
- 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);
-
- 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;
- }
- }
- return result;
- }
-
- 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�
- */
- 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);
- }
- if (s > 0) Collections.reverse(pts);
- }
-
- 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;
-
- // 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));
- }
- return result;
- }
-
- 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));
- }
- }
- return res;
- }
-
- // --- 闅滅鐗╂ā鍨� ---
-
- 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);
- }
-
- static class PolyObstacle extends Obstacle {
- List<Point> pts;
- PolyObstacle(List<Point> p) { this.pts = p; }
- @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;
- }
- }
- 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));
- }
- }
- return res;
- }
- @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;
- }
- 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; }
- }
-
- 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;
- }
- 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;
- }
- @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;
+
+ return reconnected;
}
- 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)));
+ /**
+ * 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> 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;
+ for (double y = minY + width/2; y <= maxY - width/2; y += width) {
+ 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 (!leftToRight) {
+ Collections.reverse(lineSegmentsInRow);
+ for (PathSegment s : lineSegmentsInRow) {
+ Point temp = s.start;
+ s.start = s.end;
+ s.end = temp;
+ }
+ }
+
+ 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;
+ }
+ leftToRight = !leftToRight;
+ }
+
+ return segments;
}
-
- 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�
+
+ /**
+ * 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 list;
+
+ return obstacles;
}
-
- 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);
+
+ /**
+ * 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));
}
- if (maxV - minV < minH) { minH = maxV - minV; bestA = a; }
}
- return bestA;
+
+ return expanded;
}
-
- 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])));
+
+ /**
+ * 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 list;
+
+ return outset;
}
-
- 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;
+
+ /**
+ * 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);
- public static class Point { public double x, y; public Point(double x, double y) { this.x = x; this.y = y; } }
+ 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 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;
+ }
+
+ /**
+ * 鎵撳嵃杈撳嚭璺緞鍧愭爣鍒版帶鍒跺彴
+ */
+ private static void printPathCoordinates(List<PathSegment> path) {
+ if (path == null || path.isEmpty()) {
+ System.out.println("璺緞涓虹┖");
+ return;
+ }
+
+ System.out.println("========== 璺緞鍧愭爣杈撳嚭 ==========");
+ System.out.println("鎬昏矾寰勬鏁�: " + path.size());
+ System.out.println();
+ System.out.println("璺緞鍧愭爣搴忓垪 (鏍煎紡: x,y;x,y;...):");
+
+ StringBuilder sb = new StringBuilder();
+ for (int i = 0; i < path.size(); i++) {
+ PathSegment segment = path.get(i);
+ if (i == 0) {
+ // 绗竴涓鐨勮捣鐐�
+ sb.append(String.format("%.2f,%.2f", segment.start.x, segment.start.y));
+ }
+ // 姣忎釜娈电殑缁堢偣
+ sb.append(";");
+ sb.append(String.format("%.2f,%.2f", segment.end.x, segment.end.y));
+ }
+
+ System.out.println(sb.toString());
+ System.out.println();
+ System.out.println("璇︾粏璺緞淇℃伅:");
+ for (int i = 0; i < path.size(); i++) {
+ PathSegment segment = path.get(i);
+ String type = segment.isMowing ? "鍓茶崏" : "绌鸿蛋";
+ System.out.println(String.format("娈� %d [%s]: (%.2f,%.2f) -> (%.2f,%.2f)",
+ i + 1, type, segment.start.x, segment.start.y, segment.end.x, segment.end.y));
+ }
+ System.out.println("==================================");
+ }
+
+ 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; }
+ 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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