| | |
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| | | @Component("mapService") |
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| | | public class MapService { |
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| | | |
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| | | private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}}; |
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| | | private final static int[][] DIRECTIONS = {{0, 1}, {0, -1}, {-1, 0}, {1, 0}}; |
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| | | |
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| | | @Value("${floyd.enable}") |
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| | | private Boolean floydEnable; |
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| | |
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| | | return Double.parseDouble(sta.getAngle()); |
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| | | } |
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| | | |
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| | | public AgvDirectionType calculateAgvWorkDirectionByStation(Sta sta, Code code) { |
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| | | return AgvDirectionType.FORWARD; |
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| | | public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) { |
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| | | return Math.abs(staWorkDirection - lastDirection) + 90.0D; |
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| | | } |
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| | | |
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| | | public double calculateDistance(double x1, double y1, double x2, double y2) { |
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