From 1027b845bde5f9419b49d8db49cd452ab5081976 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 07 四月 2026 13:53:18 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/AgvAngleUtils.java | 38 ++++++++++++++------------------------
1 files changed, 14 insertions(+), 24 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/AgvAngleUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/AgvAngleUtils.java
index d155740..9ce6772 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/AgvAngleUtils.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/AgvAngleUtils.java
@@ -2,57 +2,47 @@
import com.zy.acs.common.enums.ClockwiseType;
import com.zy.acs.manager.manager.entity.AgvModel;
-import com.zy.acs.manager.manager.entity.Code;
/**
* 杞﹀瀷瑙掑害宸ュ叿锛�
- * 灏嗗湴鍥剧墿鐞嗘柟鍚戯紙榛樿椤烘椂閽堬級杞崲涓鸿溅鍨嬭嚜韬搴︿綋绯汇��
+ * 浠呯敤浜庡湪 RCS 缁熶竴瑙掑害绯� 涓� 杞﹀瀷/鍗忚瑙掑害绯� 涔嬮棿鍋氳浆鎹€��
*/
public final class AgvAngleUtils {
private AgvAngleUtils() {
}
- public static Double calculateDirection(Code startCode, Code endCode, AgvModel agvModel) {
- if (startCode == null || endCode == null) {
- return null;
- }
- double deltaX = endCode.getX() - startCode.getX();
- double deltaY = endCode.getY() - startCode.getY();
- double mapAngle = Math.toDegrees(Math.atan2(deltaX, deltaY));
- return toModelAngle(normalizeAngle(mapAngle), agvModel);
- }
-
- public static Double toModelAngle(Double mapAngleDegrees, AgvModel agvModel) {
- if (mapAngleDegrees == null) {
+ public static Double toProtocolAngle(Double rcsAngleDegrees, AgvModel agvModel) {
+ if (rcsAngleDegrees == null) {
return null;
}
double factor = isClockwise(agvModel) ? 1D : -1D;
double offset = getAngleOffsetDeg(agvModel);
- return normalizeAngle(factor * normalizeAngle(mapAngleDegrees) + offset);
+ return normalizeAngle(factor * normalizeAngle(rcsAngleDegrees) + offset);
}
- public static Double fromModelAngle(Double modelAngleDegrees, AgvModel agvModel) {
- if (modelAngleDegrees == null) {
+ public static Double fromProtocolAngle(Double protocolAngleDegrees, AgvModel agvModel) {
+ if (protocolAngleDegrees == null) {
return null;
}
double factor = isClockwise(agvModel) ? 1D : -1D;
double offset = getAngleOffsetDeg(agvModel);
- return normalizeAngle(factor * (normalizeAngle(modelAngleDegrees) - offset));
+ return normalizeAngle(factor * (normalizeAngle(protocolAngleDegrees) - offset));
}
- public static Double toRadians(Double angleDegrees) {
- if (angleDegrees == null) {
+ public static Double toProtocolRadians(Double rcsAngleDegrees, AgvModel agvModel) {
+ Double protocolAngleDegrees = toProtocolAngle(rcsAngleDegrees, agvModel);
+ if (protocolAngleDegrees == null) {
return null;
}
- return Math.toRadians(normalizeAngle(angleDegrees));
+ return Math.toRadians(protocolAngleDegrees);
}
- public static Double fromRadians(Double angleRadians) {
- if (angleRadians == null) {
+ public static Double fromProtocolRadians(Double protocolAngleRadians, AgvModel agvModel) {
+ if (protocolAngleRadians == null) {
return null;
}
- return normalizeAngle(Math.toDegrees(angleRadians));
+ return fromProtocolAngle(Math.toDegrees(protocolAngleRadians), agvModel);
}
public static Double normalizeAngle(Double angleDegrees) {
--
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