From 14b2ffb34b85c725a379dd6e763e8b1028ce9db3 Mon Sep 17 00:00:00 2001
From: zc <zyzc>
Date: 星期六, 18 十月 2025 18:38:05 +0800
Subject: [PATCH] 希日AGV修改
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 18 +++++++++++++++++-
1 files changed, 17 insertions(+), 1 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 5f4df21..b12556e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -154,6 +154,21 @@
return angle;
}
+ public static void main(String[] args) {
+ Double x0 = 2D;
+ Double y0 = 2D;
+
+ Double x1 = 2D;
+ Double y1 = 1D;
+
+ double deltaX = x1 - x0;
+ double deltaY = y1 - y0;
+ double angle = Math.atan2(deltaX, deltaY);
+ angle = Math.toDegrees(angle) + 0;
+ angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
+ System.out.println(angle);
+ }
+
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
@@ -178,7 +193,8 @@
}
public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
- return Math.abs(staWorkDirection - lastDirection) + 90.0D;
+ return Math.abs(staWorkDirection - lastDirection) ;
+ //return Math.abs(staWorkDirection - lastDirection) + 90.0D;
}
public double calculateDistance(double x1, double y1, double x2, double y2) {
--
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