From c289447144f4599fe2e13d342c28a3c4d49f750f Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期二, 25 十一月 2025 20:06:54 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/utils/Utils.java | 144 ++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 144 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 36a0324..c208377 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -161,6 +161,150 @@
}
+
+ public static double[] getRgvPosNew(Integer devNo,double a, double b) {
+ double[] rgvPosNew = getRgvPosNew(a, b);
+ switch (devNo){
+ case 101:
+ case 102:
+ case 103:
+ case 104:
+ case 105:
+ case 106:
+ case 107:
+ case 108:
+ case 109:
+ case 110:
+ case 111:
+ rgvPosNew[0] = rgvPosNew[0] - 70;
+ break;
+ case 112:
+ case 113:
+ case 114:
+ case 115:
+ rgvPosNew[0] = rgvPosNew[0] + 50;
+ break;
+ case 116:
+ case 117:
+ case 118:
+ case 119:
+ case 120:
+ case 121:
+ case 122:
+ case 123:
+ case 124:
+ case 125:
+ case 126:
+ case 127:
+ case 128:
+ case 129:
+ case 130:
+ case 131:
+ case 132:
+ case 133:
+ rgvPosNew[1] = rgvPosNew[1] + 50;
+ break;
+ case 134:
+ rgvPosNew[1] = rgvPosNew[1] - 70;
+ break;
+ }
+ return rgvPosNew;
+
+ }
+ public static double[] getRgvPosNew(double a, double b) {
+ Object[][] intervals = {
+// // 寮х嚎鍖洪棿锛堟嫄鐐�116-115锛夛紝鎺у埗鐐瑰亣璁句负(1125, 882)
+// {680103, 731550, 1115, 882, 1215, 775, 1125, 882},
+ // 鐩寸嚎鍖洪棿锛�0-134400锛�
+// {璧风偣, 缁堢偣, 绫诲瀷, x1, y1, x2, y2,
+ {0.0, 120000.0, 0, 390.0, 750.0, 60.0, 750.0},
+ // 鍦嗗姬鍖洪棿锛堟嫄鐐�116-115锛夋柊鍙傛暟锛氬渾蹇�(1115,775)
+ {120000.0, 127500.0, 2, 60.0, 750.0, 10.0, 800.0, 60.0, 800.0}, // 淇缁堢偣鍧愭爣
+ {127500.0, 134900.0, 2, 10.0, 800.0, 60.0, 850.0, 60.0, 800.0},
+ {134900.0, 680103.0,0, 60.0, 850.0, 1100.0, 850.0},
+ {680103.0, 731550.0, 2, 1100.0, 850.0, 1200.0, 750.0, 1100.0, 750.0},
+ {731550.0, 972950.0,0, 1200.0, 750.0, 1200.0, 100.0},
+ {972950.0, 1016193.0, 2, 1200.0, 100.0, 1150.0, 50.0, 1150.0, 100.0},
+ {1016193.0, 1063563.0, 2, 1150.0, 50.0, 1100.0, 100.0, 1150.0, 100.0},
+ {1063563.0, 1315250.0,0, 1100.0, 100.0, 1100.0, 700.0},
+ {1315250.0, 1322829.0, 2, 1100.0, 700.0, 1050.0, 750.0, 1050.0, 700.0},
+ {1322829.0, 1737000.0,0, 1050.0, 750.0, 390.0, 750.0},
+ };
+
+ for (Object[] interval : intervals) {
+ double start = (Double) interval[0];
+ double end = (Double) interval[1];
+ int type = (Integer) interval[2];
+
+ if (b >= start && b <= end) {
+ double t = (b - start) / (end - start);
+
+ // 鏍规嵁涓嶅悓绫诲瀷璁＄畻鍧愭爣
+ switch (type) {
+ case 0: // 鐩寸嚎
+ return linearInterpolation(interval, t);
+ case 1: // 璐濆灏旀洸绾�
+ return bezierInterpolation(interval, t);
+ case 2: // 鍦嗗姬
+ return circularInterpolation(interval, t);
+ }
+ }
+ }
+ return new double[]{0, 0};
+ }
+
+
+
+ // 鐩寸嚎鎻掑��
+ private static double[] linearInterpolation(Object[] interval, double t) {
+ double x1 = (Double) interval[3];
+ double y1 = (Double) interval[4];
+ double x2 = (Double) interval[5];
+ double y2 = (Double) interval[6];
+ return new double[]{
+ x1 + t * (x2 - x1),
+ y1 + t * (y2 - y1)
+ };
+ }
+
+ // 璐濆灏旀洸绾挎彃鍊�
+ private static double[] bezierInterpolation(Object[] interval, double t) {
+ double x0 = (Double) interval[3];
+ double y0 = (Double) interval[4];
+ double x2 = (Double) interval[5];
+ double y2 = (Double) interval[6];
+ double cx = (Double) interval[7];
+ double cy = (Double) interval[8];
+ return new double[]{
+ Math.pow(1-t, 2)*x0 + 2*(1-t)*t*cx + t*t*x2,
+ Math.pow(1-t, 2)*y0 + 2*(1-t)*t*cy + t*t*y2
+ };
+ }
+
+ // 鍦嗗姬鎻掑�硷紙鏂板锛�
+ private static double[] circularInterpolation(Object[] interval, double t) {
+ // 鍙傛暟瑙ｆ瀽
+ double startX = (Double) interval[3];
+ double startY = (Double) interval[4];
+ double endX = (Double) interval[5];
+ double endY = (Double) interval[6];
+ double centerX = (Double) interval[7];
+ double centerY = (Double) interval[8];
+
+ // 璁＄畻璧峰瑙掑害鍜岀粓姝㈣搴�
+ double startAngle = Math.atan2(startY - centerY, startX - centerX);
+ double endAngle = Math.atan2(endY - centerY, endX - centerX);
+
+ // 瑙掑害鎻掑��
+ double currentAngle = startAngle + t * (endAngle - startAngle);
+ double radius = Math.hypot(startX - centerX, startY - centerY);
+
+ return new double[]{
+ centerX + radius * Math.cos(currentAngle),
+ centerY + radius * Math.sin(currentAngle)
+ };
+ }
+
public static void main(String[] args) {
SlaveProperties slaveProperties = new SlaveProperties();
slaveProperties.setDoubleDeep(true);
--
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