def Drawing(self):
point_1 = []
x, y = self.UTM_get()
for i in range(0, len(x)):
point = []
point.append(x[i])
point.append(y[i])
point_1.append(point)
path_width, offset_width, turn_r = self.Path_Info()
path_width = path_width * 10
# 扫描线间隔距离(车辆工作幅宽)
# path_width = 4 * 10 # 全部数据扩大10倍，画图时在缩小即可，扫描线间隔是4（原因是程序中i不能产生浮点数）
# 偏置距离（根据转弯来计算）
d = int(path_width / 10)
d_ = int(d * (offset_width + 1))
point_ = []
# 调用偏置程序 （import Polygon_offset as Pol）
for x in range(0, d_, d):
a = cal.Shrink(x, *point_1)
point_.append(a)
point_offset = point_[int((d_ / d) - 1)]
# 多边形顶点数
POINTNUM_1 = len(point_offset)
point_1.append(point_1[0])
P_x_ = []
P_y_ = []
for p in point_1:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_)
for i in range(1, int((d_ / d) - 1)):
point_[i].append(point_[i][0])
P_x_ = []
P_y_ = []
for p in point_[i]:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_, color='red', linewidth=1)
Polygon_1 = point_offset
X = []
Y = []
for i in range(POINTNUM_1):
x = (Polygon_1[i][0])
y = (Polygon_1[i][1])
X.append(x)
Y.append(y)
X.append(Polygon_1[0][0])
Y.append(Polygon_1[0][1])
# 调用algorithm中polyScan_Draw函数画图
algorithm.polyScan_Draw(self, point_1, point_offset, path_width)
# 转弯部分
min_angle, min_distance = algorithm.polyScan(point_1, point_offset,
path_width)
top_point, low_point = algorithm.Rec_turn_point(
self, point_1, point_offset, path_width)
# print('low_point', low_point)
# print('top_point', top_point)
# 首先解决row_list,应该在算法部分，目前随便定义一下(可以连接为经验算法)，后面修改
row_list = []
for i in range(0, len(low_point)):
row_list.append(i)
# 然后是转弯名称all_turn_name
all_turn_name = []
for i in range(0, len(low_point)):
all_turn_name.append('U') # 定义转弯方式
# row_list和all_turn_name为算法求解部分
all_turn = cal.All_Turn(self, point_1, point_offset, path_width,
row_list, turn_r, all_turn_name, min_angle)
# print('all_turn', all_turn)
for x in all_turn:
self.F.axes.plot(x[0], x[1], color="red", linewidth=2)
# 这一部分放在algorithm.py中，放这里会运行2次，加大计算量.
# 结果展示内容
# self.textBrowser.setText("最优角度: " + str(min_angle) + "\n最短距离: " + str(min_distance))
self.F.axes.plot(X, Y, color='red', linewidth=1)
self.F.axes.axis('equal')
self.horizontalLayout.addWidget(self.F)
def Drawing_1(self):
point_1 = []
x, y = self.UTM_get()
for i in range(0, len(x)):
point = []
point.append(x[i])
point.append(y[i])
point_1.append(point)
path_width, offset_width, turn_r = self.Path_Info()
path_width = path_width * 10
# 扫描线间隔距离(车辆工作幅宽)
# path_width = 4 * 10 # 全部数据扩大10倍，画图时在缩小即可，扫描线间隔是4（原因是程序中i不能产生浮点数）
# 偏置距离（根据转弯来计算）
d = int(path_width / 10)
d_ = int(d * (offset_width + 1))
point_ = []
# 调用偏置程序 （import Polygon_offset as Pol）
for x in range(0, d_, d):
a = cal.Shrink(x, *point_1)
point_.append(a)
point_offset = point_[int((d_ / d) - 1)]
# 多边形顶点数
POINTNUM_1 = len(point_offset)
point_1.append(point_1[0])
# 偏置程序输出point_1 point_offset path_width point_ d_ d
# angle = 0
# for i in range(0, 180):
# if angle <= 180:
# 画线部分
#############
# 最外面的多边形
# self.F.canvas.draw()
# self.F.canvas.draw_idle()
# self.F.plt.ion()
# plt.ion()
P_x_ = []
P_y_ = []
for p in point_1:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_)
# 中间多边形
for i in range(1, int((d_ / d) - 1)):
point_[i].append(point_[i][0])
P_x_ = []
P_y_ = []
for p in point_[i]:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_, color='red', linewidth=1)
# 最内部的多边形
Polygon_1 = point_offset
X = []
Y = []
for i in range(POINTNUM_1):
x = (Polygon_1[i][0])
y = (Polygon_1[i][1])
X.append(x)
Y.append(y)
X.append(Polygon_1[0][0])
Y.append(Polygon_1[0][1])
self.F.axes.plot(X, Y, color='red', linewidth=1)
angle = 0
for i in range(0, 181):
if angle < 180:
print('angle', angle)
min_angle = angle
boundary_point, route_point, top_list, low_list, point = algorithm.polyScan_Draw(
point_1, point_offset, path_width, min_angle)
# 画车辆边界线与车辆路线
print('boundary_point', boundary_point)
for x in boundary_point:
self.F.axes.plot(x[0], x[1], color='green', linewidth=0.5)
for x in route_point:
self.F.axes.plot(x[0],
x[1],
color='red',
linewidth=0.25,
linestyle='--',
dashes=[20, 15])
#
plt.cla()
self.F.axes.axis('equal')
# plt.ioff()
# plt.show()
self.horizontalLayout.addWidget(self.F)
print('画图')
# plt.pause(5)
angle += 1
else:
plt.cla()
def Drawing(self):
point_1 = []
x, y = self.UTM_get()
for i in range(0, len(x)):
point = []
point.append(x[i])
point.append(y[i])
point_1.append(point)
path_width, offset_width, turn_r = self.Path_Info()
path_width = path_width * 10
# 扫描线间隔距离(车辆工作幅宽)
# path_width = 4 * 10 # 全部数据扩大10倍，画图时在缩小即可，扫描线间隔是4（原因是程序中i不能产生浮点数）
# 偏置距离（根据转弯来计算）
d = int(path_width / 10)
d_ = int(d * (offset_width + 1))
point_ = []
# 调用偏置程序 （import Polygon_offset as Pol）
for x in range(0, d_, d):
a = cal.Shrink(x, *point_1)
point_.append(a)
point_offset = point_[int((d_ / d) - 1)]
# 多边形顶点数
POINTNUM_1 = len(point_offset)
point_1.append(point_1[0])
P_x_ = []
P_y_ = []
for p in point_1:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_)
for i in range(1, int((d_ / d) - 1)):
point_[i].append(point_[i][0])
P_x_ = []
P_y_ = []
for p in point_[i]:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_, color='red', linewidth=1)
Polygon_1 = point_offset
X = []
Y = []
for i in range(POINTNUM_1):
x = (Polygon_1[i][0])
y = (Polygon_1[i][1])
X.append(x)
Y.append(y)
X.append(Polygon_1[0][0])
Y.append(Polygon_1[0][1])
#
distance_set = []
angle = 0
for i in range(0, 180):
if angle <= 180:
t_distance = algorithm.polyScan(point_1, point_offset,
path_width, angle)
distance_set.append(t_distance)
angle += 1
else:
pass
min_angle = distance_set.index(
min(distance_set)) # 求最小值在列表中位置，得到的数据其实就是角度大小
min_distance = min(distance_set) # 最短距离
# 结果展示内容
self.textBrowser.setText("最优角度: " + str(min_angle) + "\n最短距离: " +
str(min_distance))
# 调用algorithm中polyScan_Draw求解需要的参数
boundary_point, route_point, top_list, low_list, point = algorithm.polyScan_Draw(
point_1, point_offset, path_width, min_angle)
# 转弯部分
# 首先解决row_list,应该在算法部分，目前随便定义一下(可以理解为经验算法)，后面修改
row_list = []
for i in range(0, len(low_list)):
row_list.append(i)
# 然后是转弯名称all_turn_name
all_turn_name = []
for i in range(0, len(low_list)):
all_turn_name.append('M2') # 定义转弯方式
# row_list和all_turn_name为算法求解部分
all_turn = cal.All_Turn(top_list, low_list, row_list, turn_r,
all_turn_name)
all_turn = cal.Data_Spin(all_turn, min_angle, point)
# 画转弯线
for x in all_turn:
self.F.axes.plot(x[0], x[1], color="red", linewidth=1)
# 画车辆边界线与车辆路线
for x in boundary_point:
self.F.axes.plot(x[0], x[1], color='green', linewidth=0.5)
for x in route_point:
self.F.axes.plot(x[0],
x[1],
color='red',
linewidth=0.25,
linestyle='--',
dashes=[20, 15])
self.F.axes.plot(X, Y, color='red', linewidth=1)
self.F.axes.axis('equal')
self.horizontalLayout.addWidget(self.F)
def Drawing(self):
point_1 = []
x, y = self.UTM_get()
for i in range(0, len(x)):
point = []
point.append(x[i])
point.append(y[i])
point_1.append(point)
path_width, offset_width = self.Path_Info()
path_width = path_width * 10
# 扫描线间隔距离(车辆工作幅宽)
# path_width = 4 * 10 # 全部数据扩大10倍，画图时在缩小即可，扫描线间隔是4（原因是程序中i不能产生浮点数）
# 偏置距离（根据转弯来计算）
d = int(path_width / 10)
d_ = int(d * (offset_width + 1))
point_ = []
# 调用偏置程序 （import Polygon_offset as Pol）
for x in range(0, d_, d):
a = cal.Shrink(x, *point_1)
point_.append(a)
point_offset = point_[int((d_ / d) - 1)]
# 多边形顶点数
POINTNUM_1 = len(point_offset)
point_1.append(point_1[0])
P_x_ = []
P_y_ = []
for p in point_1:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_)
for i in range(1, int((d_ / d) - 1)):
point_[i].append(point_[i][0])
P_x_ = []
P_y_ = []
for p in point_[i]:
P_x_.append(p[0])
P_y_.append(p[1])
self.F.axes.plot(P_x_, P_y_, color='red', linewidth=1)
Polygon_1 = point_offset
X = []
Y = []
for i in range(POINTNUM_1):
x = (Polygon_1[i][0])
y = (Polygon_1[i][1])
X.append(x)
Y.append(y)
X.append(Polygon_1[0][0])
Y.append(Polygon_1[0][1])
algorithm.polyScan_Draw(self, point_1, point_offset, path_width)
# 这一部分放在algorithm.py中，放这里会运行2次，加大计算量.
# 结果展示内容
# min_angle, min_distance = algorithm.polyScan(point_1, point_offset, path_width)
# self.textBrowser.setText("最优角度: " + str(min_angle) + "\n最短距离: " + str(min_distance))
self.F.axes.plot(X, Y, color='red', linewidth=1)
self.F.axes.axis('equal')
self.horizontalLayout.addWidget(self.F)
