From 67de3f38ab7a5ae9a9ae1aeec369c285004ee4d5 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 13 三月 2026 13:54:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 40 ++++++++++++++++++++++++++++++++++++----
1 files changed, 36 insertions(+), 4 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
index 222f5cd..c055c8f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
+++ b/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);
+ }
+
}
--
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