private void 示教路径_Click(object sender, EventArgs e) { if (示教路径.Text == "示教路径") { if (Usart.IsOpen == false) { MessageBox.Show("请开启串口!", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error); return; } //清空txt文档 FileStream fs = new FileStream(RecieveTeachingPathInf, FileMode.Create, FileAccess.Write); fs.Close(); 示教路径.Text = "完成接收"; usartMode = "示教路径"; 实时路径.Enabled = false; TimeReadCom.Enabled = true; } else { PathClear = "示教路径"; NoticeInformation.Text = ""; 示教路径.Text = "示教路径"; usartMode = ""; TimeReadCom.Enabled = false; 实时路径.Enabled = true; FileTxt.FileTxtCopy(RecieveTeachingPathInf, PathAllInf); viewControl.Refresh(); } }
//计算所绘制B样条曲线关键点路径长度,并存在txt文件中,用于切分姿态角度所用 static public void CalculateBsplineInfo(string txtAdress) { //创建临时文件 StreamWriter tempFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\eeww.txt", true); //////////////////////////////////从TXT文档读取数据点///////////////////////////////////// //数据读取 StreamReader pathFile = File.OpenText(txtAdress); List <string> tempString = new List <string>(); while (!pathFile.EndOfStream) { tempString.Add(pathFile.ReadLine()); } pathFile.Close(); //如果点数小于2,不能规划出轨迹 if (tempString.Count() < 2) { return; } List <PointF> tempPnts = new List <PointF>(); Pen myPen = new Pen(Color.Black, 1); foreach (string str in tempString) { string[] sArray = str.Split(','); tempPnts.Add(new PointF(float.Parse(sArray[0]), float.Parse(sArray[1]))); } System.Drawing.PointF[] tempPoint = tempPnts.ToArray(); ////////////////////////////////////////////////////////////////////////////////////////////// int num = tempPoint.Count(); float[] pntLen = new float[num]; //系数矩阵对角列 float[] a = new float[num]; //系数矩阵对角上列 float[] b = new float[num]; //系数矩阵对角下列 float[] c = new float[num]; //定义soluctionX、soluctionY为线性方程的解 float[] soluctionX = new float[num]; float[] soluctionY = new float[num]; //定义dataX和dataY,用来存放inPoint里的X和Y坐标 float[] dataX = new float[num]; float[] dataY = new float[num]; //定义controlPoint用来存放控制点 PointF[] controlPoint = new PointF[num + 4]; //存放画线的两个使用点 PointF[] lines = new PointF[2]; //初始化 a,b,c a[0] = 18; a[num - 1] = 18; for (int i = 1; i < num - 1; i++) { a[i] = 4; } for (int i = 1; i < num - 1; i++) { b[i] = 1; c[i] = 1; } c[num - 1] = -9; b[0] = -9; for (int i = 0; i < num; i++) { dataX[i] = 6.0f * tempPnts[i].X; dataY[i] = 6.0f * tempPnts[i].Y; } dataX[0] *= 1.5f; dataY[0] *= 1.5f; dataX[num - 1] *= 1.5f; dataY[num - 1] *= 1.5f; //计算outdataX,outdataY; Calculate math = new Calculate(); //调用Matrix用追赶法求解线性方程 math.Matrix(dataX, num, ref a, ref b, ref c, ref soluctionX); math.Matrix(dataY, num, ref a, ref b, ref c, ref soluctionY); controlPoint[num + 3].X = dataX[num - 1] / 9; controlPoint[num + 2].X = dataX[num - 1] / 9; controlPoint[0].X = dataX[0] / 9; controlPoint[1].X = dataX[0] / 9; for (int i = 0; i < num; i++) { controlPoint[i + 2].X = soluctionX[i]; } controlPoint[num + 3].Y = dataY[num - 1] / 9; controlPoint[num + 2].Y = dataY[num - 1] / 9; controlPoint[0].Y = dataY[0] / 9; controlPoint[1].Y = dataY[0] / 9; for (int i = 0; i < num; i++) { controlPoint[i + 2].Y = soluctionY[i]; } float threshold = 1.0f; while (true) { //计算型值点,画出曲线 //从初始点开始 lines[0] = tempPoint[0]; pntLen[0] = 0.0f; int count = 1; float length = 0.0f; for (int i = 0; i < num + 1; i++) { for (float u = 0.01f; u <= 1; u += 0.01f) { float b0 = 1.0f / 6 * (1 - u) * (1 - u) * (1 - u); float b1 = 1.0f / 6 * (3 * u * u * u - 6 * u * u + 4); float b2 = 1.0f / 6 * (-3 * u * u * u + 3 * u * u + 3 * u + 1); float b3 = 1.0f / 6 * u * u * u; lines[1].X = (b0 * controlPoint[i].X + b1 * controlPoint[i + 1].X + b2 * controlPoint[i + 2].X + b3 * controlPoint[i + 3].X); lines[1].Y = (b0 * controlPoint[i].Y + b1 * controlPoint[i + 1].Y + b2 * controlPoint[i + 2].Y + b3 * controlPoint[i + 3].Y); length += Bspline.CalculatePnt2Pnt(lines[0], lines[1]); if (Bspline.CalculatePnt2Pnt(lines[1], tempPnts[count]) < threshold) { pntLen[count++] = length; } lines[0] = lines[1]; } } if (count == num - 1) { length += Bspline.CalculatePnt2Pnt(lines[0], tempPoint[num - 1]); pntLen[num - 1] = length; break; } else { threshold *= 2.0f; } } int ii = 0; foreach (string str in tempString) { tempFile.WriteLine(str + "," + pntLen[ii++].ToString()); } tempFile.Close(); //清空txt文档 FileStream fs = new FileStream(txtAdress, FileMode.Create, FileAccess.Write); fs.Close(); FileTxt.FileTxtCopy(Directory.GetCurrentDirectory() + "\\eeww.txt", txtAdress); //删除临时文件 System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\eeww.txt"); }
//将自由端点的b样条曲线分割为每段15cm的曲线 static public void BsplineSegment(string BsplineWithoutDirTxt, string BsplineWithDirTxt) { //将端点长度写入文件,便于姿态角度拟合 Bspline.CalculateBsplineInfo(BsplineWithoutDirTxt); //数据读取 StreamReader pathFile = File.OpenText(BsplineWithoutDirTxt); List <string> tempString = new List <string>(); while (!pathFile.EndOfStream) { tempString.Add(pathFile.ReadLine()); } pathFile.Close(); List <PointF> tempPnts = new List <PointF>(); List <PointF> posAnglePoints = new List <PointF>(); foreach (string str in tempString) { string[] sArray = str.Split(','); tempPnts.Add(new PointF(float.Parse(sArray[0]), float.Parse(sArray[1]))); posAnglePoints.Add(new PointF(float.Parse(sArray[3]), float.Parse(sArray[2]))); } System.Drawing.PointF[] tempPoint = tempPnts.ToArray(); System.Drawing.PointF[] posAnglePoint = posAnglePoints.ToArray(); //创建临时文件 StreamWriter posAngleFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\23423.txt", false); //创建临时文件 StreamWriter lengthFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\325.txt", false); //创建临时文件 StreamWriter lengthSegmentFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\3424ds.txt", false); //每15cm分一段,计算端点切线方向 ,以无方向b样条的长度15cm一段进行切分 Segment(tempPoint, BsplineWithDirTxt, lengthSegmentFile); lengthSegmentFile.Close(); //数据读取 StreamReader lengthSegmentFileR = File.OpenText(Directory.GetCurrentDirectory() + "\\3424ds.txt"); //每15cm分一段,计算端点姿态方向 Segment2(posAnglePoint, posAngleFile, lengthSegmentFileR); lengthSegmentFileR.Close(); System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\3424ds.txt"); //计算每一段的长度 Segment3(BsplineWithDirTxt, lengthFile); lengthFile.Close(); posAngleFile.Close(); //将三个文件合在一起/////////////////////////////////////////////////////////////////// //数据读取 StreamReader file1 = File.OpenText(BsplineWithDirTxt); List <string> tempString1 = new List <string>(); while (!file1.EndOfStream) { tempString1.Add(file1.ReadLine()); } file1.Close(); //数据读取 posAngleFile StreamReader file2 = File.OpenText(Directory.GetCurrentDirectory() + "\\23423.txt"); List <string> tempString2 = new List <string>(); while (!file2.EndOfStream) { tempString2.Add(file2.ReadLine()); } file2.Close(); //数据读取 lengthFile StreamReader file3 = File.OpenText(Directory.GetCurrentDirectory() + "\\325.txt"); List <string> tempString3 = new List <string>(); while (!file3.EndOfStream) { tempString3.Add(file3.ReadLine()); } file3.Close(); Console.WriteLine(tempString1.Count()); Console.WriteLine(tempString2.Count()); Console.WriteLine(tempString3.Count()); //创建临时文件 StreamWriter tempAllInfoFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\asdgfas.txt", true); for (int i = 0; i < tempString2.Count(); i++) { tempAllInfoFile.WriteLine(tempString1[i] + "," + tempString2[i] + "," + tempString3[i]); } tempAllInfoFile.Close(); FileTxt.FileTxtCopy(Directory.GetCurrentDirectory() + "\\asdgfas.txt", BsplineWithDirTxt); //删除文件 System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\asdgfas.txt"); ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// lengthFile.Close(); posAngleFile.Close(); System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\23423.txt"); System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\325.txt"); }