| | |
|---|
| | | } |
|---|
| | | |
|---|
| | | stopWatch.stop(); |
|---|
| | | if (stopWatch.getTime() > 100) { |
|---|
| | | if (stopWatch.getTime() > 0) { |
|---|
| | | log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime()); |
|---|
| | | } |
|---|
| | | } |
|---|
| | |
|---|
| | | } |
|---|
| | | |
|---|
| | | Agv agv = agvService.selectByUuid(agvNo); |
|---|
| | | AgvModel agvModel = agvModelService.getById(agv.getAgvModel()); |
|---|
| | | AgvModel agvModel = agvModelService.getByAgvNo(agvNo); |
|---|
| | | Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR); |
|---|
| | | |
|---|
| | | String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev); |
|---|
