#

vincentlu

2 天以前 7ce12b33107fb33941df7e1589bf1a6716539377

 zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java

@@ -2,6 +2,9 @@

import com.alibaba.fastjson.JSON;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.manager.entity.AgvModel;

import java.util.*;

@@ -56,12 +59,41 @@
        return JSON.toJSONString(set);
    }

    public static Double getVehicleWaveSafeDistance(Integer val, Double factor) {
        if (Cools.isEmpty(val)) {
            return 0.0D;
    public static Double getVehicleWaveSafeDistance(Number mm) {
        return getVehicleWaveSafeDistance(mm, null);
    }

    public static Double getVehicleWaveSafeDistance(Number mm, Double factor) {
        if (mm == null) {
            throw new IllegalArgumentException("Invalid map length: " + mm);
        }
        factor = Optional.ofNullable(factor).orElse(1.0D);
        double val = mm.doubleValue();
        if (val <= 0) {
            throw new IllegalArgumentException("Invalid map length: " + mm);
        }
        factor = Optional.ofNullable(factor).orElse(MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        return val * factor;
    }

    public static VehicleFootprint buildFootprint(AgvModel agvModel) {
        if (null == agvModel) {
            throw new IllegalArgumentException("AgvModel is null");
        }
        if (agvModel.getHeadOffset() == null || agvModel.getHeadOffset() <= 0) {
            throw new IllegalArgumentException("Invalid head offset: " + agvModel.getHeadOffset());
        }
        if (agvModel.getTailOffset() == null || agvModel.getTailOffset() <= 0) {
            throw new IllegalArgumentException("Invalid tail offset: " + agvModel.getTailOffset());
        }
        if (agvModel.getWidth() == null || agvModel.getWidth() <= 0) {
            throw new IllegalArgumentException("Invalid width: " + agvModel.getWidth());
        }

        double head = agvModel.getHeadOffset();
        double tail = agvModel.getTailOffset();
        double halfWidth = (double) agvModel.getWidth() / 2;

        return new VehicleFootprint(head, tail, halfWidth);
    }

}