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46 lines
1.3 KiB
46 lines
1.3 KiB
#ifndef COARSE_PLANNER_HPP
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#define COARSE_PLANNER_HPP
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#include "point.hpp"
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#include "vector3.hpp"
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#include "space_analyzer.hpp"
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#include "busbar_config.hpp"
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#include <vector>
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#include <string>
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// 粗规划结果
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struct CoarsePlanResult {
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bool success = false;
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std::vector<Point> path; // 完整体素级路径
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std::vector<Point> waypoints; // Douglas-Peucker简化航点
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std::string message;
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int voxels_explored = 0;
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};
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// 体素级粗规划器：1×1巴片（不考虑姿态），考虑防护间隙
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class CoarsePlanner {
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public:
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CoarsePlanner(const BusbarConfig& config, const SpaceAnalyzer& analyzer);
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CoarsePlanResult plan(const Point& start, const Point& goal);
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private:
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const BusbarConfig& config_;
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const SpaceAnalyzer& analyzer_;
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uint64_t xsize_, ysize_, zsize_;
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inline size_t toIndex(int64_t x, int64_t y, int64_t z) const {
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return static_cast<size_t>(x + y * xsize_ + z * xsize_ * ysize_);
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}
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inline bool isPassable(int64_t x, int64_t y, int64_t z) const {
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return analyzer_.isInBounds(x, y, z) && !analyzer_.isObstacle(x, y, z);
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}
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static float heuristic(const Point& a, const Point& b);
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// Douglas-Peucker路径简化
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static std::vector<Point> simplifyPath(const std::vector<Point>& path, float epsilon);
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};
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#endif
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