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46 lines
1.3 KiB
46 lines
1.3 KiB
#ifndef SPACE_ANALYZER_HPP
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#define SPACE_ANALYZER_HPP
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#include "busbar_config.hpp"
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#include <vector>
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#include <cstdint>
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class SpaceAnalyzer {
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private:
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const BusbarConfig& config_;
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const std::vector<bool>& obstacles_;
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uint64_t xsize_, ysize_, zsize_;
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size_t getIndex(int64_t x, int64_t y, int64_t z) const {
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return x + y * xsize_ + z * xsize_ * ysize_;
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}
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public:
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SpaceAnalyzer(const BusbarConfig& config,
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const std::vector<bool>& obstacles,
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uint64_t xsize, uint64_t ysize, uint64_t zsize)
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: config_(config), obstacles_(obstacles),
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xsize_(xsize), ysize_(ysize), zsize_(zsize) {}
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// 检查体素是否为障碍物
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bool isObstacle(int64_t x, int64_t y, int64_t z) const;
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bool isObstacle(const Point& p) const;
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// 检查体素是否在边界内
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bool isInBounds(int64_t x, int64_t y, int64_t z) const;
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bool isInBounds(const Point& p) const;
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// 检查体素是否可通过（考虑间隙）
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bool isVoxelFree(const Point& p) const;
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// 检查某个点在给定方向上是否有足够空间
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bool hasSpace(const Point& p, const Vector3& tangent,
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const Vector3& normal) const;
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// 获取地图尺寸
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uint64_t xsize() const { return xsize_; }
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uint64_t ysize() const { return ysize_; }
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uint64_t zsize() const { return zsize_; }
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};
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#endif
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