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@ -67,7 +67,7 @@ struct Readexcel |
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// cout<<(cell->FirstChildElement()->GetText())<<endl;
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s[i] = cell->FirstChildElement()->GetText(); |
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s[i] = cell->FirstChildElement()->GetText(); |
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i++; |
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} |
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slist.push_back(s[0]); |
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@ -201,7 +201,8 @@ void produceXML(const char *xml, const char *connectorFile, string resultfile) |
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ofs.open("result.txt", ios::out); |
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string endfilename = "end" + resultfile; |
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// oendpoint.open(endfilename.c_str(),ios::out);
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// 读取线缆起始点数据
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readxml(xml, connectorFile); |
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cout << "wire_pairs num: " << wire_pairs.size() << endl; |
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@ -218,11 +219,14 @@ void produceXML(const char *xml, const char *connectorFile, string resultfile) |
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if (inbox(bd.start) && inbox(bd.goal)) |
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{ |
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// 路径规划
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cout << "yes" << endl; |
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Path path = astar.search_pair(bd); |
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Path path = astar.search_pair(bd); // 多线缆下只能搜索出第一次的路径
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// 打印路径
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for (int j = 0; j < path.points.size(); j++) |
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{ |
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cout << path.wirelist[0] << endl; |
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P pp = path.points[j]; |
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ofs << pp.x << " " << pp.y << " " << pp.z << endl; |
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cout << setprecision(10) << "(" << pp.x << "," << pp.y << "," << pp.z << ")"; |
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@ -280,34 +284,34 @@ inline void init() |
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clipSet.computeCenter(); |
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cout << "compute center Finish Y:" << Ycenter << " Z:" << Zcenter << endl; |
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clipSet.buildChannel(); |
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basicChannel.createChannel(); |
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clipSet.buildChannel(); //?
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basicChannel.createChannel(); //?
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cout << "basicChannel build Finish" << endl; |
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basicChannel.createBranchPoint(); |
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basicChannel.createBranchPoint(); //?
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cout << "branchPoint create Finish" << endl; |
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for (int i = 1; i <= branchPointSet.branchPointNum; i++) |
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{ |
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astar.add_branchPoint(branchPointSet.b[i]); |
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} |
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astar.init(); |
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astar.init(); //pnum+2
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cout << "astar init Finish clipNum:" << astar.pnum - 2 << " Toatal Point Num:" << astar.tnum << endl; |
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basicEdge.buildEdgeBetweenClipAndBranchPoint(); |
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basicEdge.buildEdgeBetweenClipAndBranchPoint(); //?
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cout << "edge build Finish" << endl; |
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cout << "INIT Finish" << endl; |
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} |
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int _tmain(int argc, char *argv[]) |
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{ |
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// test();
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// return 0;
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cout << "Start" << endl; |
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Astar *pastar = &astar; |
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cout << "Start" << endl; |
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string mode; |
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// cin>>mode;
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mode = argv[1]; |
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Astar *pastar = &astar; |
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if (mode == "generateCATIA") |
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{ |
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// 该模式为基本模式，使用它来生成通道模型
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@ -374,9 +378,9 @@ int _tmain(int argc, char *argv[]) |
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cout << "ALL FINISH" << endl; |
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} |
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//----------------------mark----------------------
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// 该模式为狭小空间模式，使用它来生成狭小空间的路径
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else if (mode == "createTinyroute") |
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{ |
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// 该模式为狭小空间模式，使用它来生成狭小空间的路径
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string clipDoc, xmlDoc, connectorFile, OBJDoc, outputFileName; |
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// cin>>clipDoc>>xmlDoc>>connectorFile>>OBJDoc>>outputFileName;
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clipDoc = argv[2]; |
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@ -385,9 +389,11 @@ int _tmain(int argc, char *argv[]) |
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OBJDoc = argv[5]; |
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outputFileName = argv[6]; |
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// 读取obj文件列表
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vector<string> OBJFilenames; |
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getAllFiles(OBJDoc, OBJFilenames); |
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cout << "OBJfilename.size()" << OBJFilenames.size() << endl; |
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cout << "OBJfilename.size():" << OBJFilenames.size() << endl; |
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// 测试模型输入与bvh相交算法
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for (int i = 0; i < OBJFilenames.size(); i++) |
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{ |
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if (read_OBJ(OBJFilenames[i], vertices, indices)) |
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@ -399,10 +405,13 @@ int _tmain(int argc, char *argv[]) |
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cout << "indices_length:" << indices.size() << endl; |
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// Line segment
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intersection_model = 1; |
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// 测试线段长度、方向
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LineSegment lineSegment(Vec3f(3.46, 0.87, 1.57), Vec3f(1.7, 2.04, 1.46)); // VS2008
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// 构建BVH树
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static BVH_intersection bvh(mesh); |
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// 判断线段是否与模型相交
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bool hit = bvh.intersectWithLineSegment(lineSegment); |
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cout << "Line segment intersects with Mesh:" << hit << endl; |
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cout << "Test line segment (3.46, 0.87, 1.57)->(1.7, 2.04, 1.46) intersects with Mesh:" << hit << endl; |
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} |
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else |
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{ |
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@ -410,26 +419,28 @@ int _tmain(int argc, char *argv[]) |
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} |
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} |
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// 读取卡箍点
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vector<string> clipFileNames; |
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getAllFiles(clipDoc, clipFileNames); |
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for (int i = 0; i < clipFileNames.size(); i++) |
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read_points(clipFileNames[i].c_str(), pastar); |
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cout << "read points finish" << endl; |
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// bvh.read_stl(stlFileName.c_str());
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time_t r1, r2; |
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time(&r1); |
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//?通道初始化
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init(); |
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//读取路径起始点
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vector<string> filenames; |
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getAllFiles(xmlDoc, filenames); |
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cout << "filename.size()" << filenames.size() << endl; |
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for (int i = 0; i < filenames.size(); i++) |
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{ |
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cout << "i:" << i << " " << filenames[i] << endl; |
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// if(i!=0)break;
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string wirebh; |
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stringstream ss; |
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ss << i; |
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@ -438,10 +449,12 @@ int _tmain(int argc, char *argv[]) |
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cout << filename << endl; |
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cout << endl; |
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string resultname = outputFileName + wirebh + ".txt"; |
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//路径规划
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produceXML(filename.c_str(), connectorFile.c_str(), resultname); |
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} |
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// string resultname = outputFileName + "ALL.txt";
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string resultname = outputFileName + filenames[0][19] + "toEx100.txt"; |
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string resultname = outputFileName + filenames[0].substr(filenames[0].find_last_of("/\\") + 1) + "_ALL.txt"; |
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basicChannel.printBundle(resultname); |
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