/// <summary>
/// 生成路径
/// </summary>
/// <returns>路径集合</returns>
public static List <PathPoint> GetPath(Agv agv)
{
STask sTask = agv.sTaskList[0];
Point beginPoint = sTask.beginPoint;
Point endPoint = sTask.endPoint;
STaskType sTaskType = sTask.sTaskType;
switch (sTask.sTaskType)
{
case STaskType.D1:
if (beginPoint == endPoint)
{
return new List <PathPoint>()
{
GetObject.GetPathPoint(beginPoint), GetObject.GetPathPoint(endPoint)
}
}
;
AStar aStart = new AStar();
List <Point> listApoint = GetCanUseApoint(agv);
ClearParentPoint();
Point Parent = aStart.PathGet(listApoint, beginPoint, endPoint, agv);
if (Parent == null)
{
return(null);
}
List <PathPoint> listPathPoint = GetPathList(Parent);
AddCorner(listPathPoint);
OriLock(listPathPoint, agv);
return(listPathPoint);
case STaskType.D2:
case STaskType.D3:
case STaskType.D6:
case STaskType.D15:
return(new List <PathPoint>()
{
GetObject.GetPathPoint(beginPoint), GetObject.GetPathPoint(endPoint)
});
case STaskType.D13:
case STaskType.D14:
//左弧右弧进
break;
case STaskType.D17:
case STaskType.D19:
//左弧右弧出
break;
default:
throw new Exception("无此任务类型:" + sTask.sTaskType);
}
return(null);
}
static List <PathPoint> GetPathList(Point Parent)
{
List <PathPoint> listPathPoint = new List <PathPoint>();
while (Parent != null)
{
listPathPoint.Add(GetObject.GetPathPoint(Parent));
Parent = Parent.ParentPoint;
}
listPathPoint.Reverse();
for (int i = 0; i < listPathPoint.Count; i++)
{
listPathPoint[i].serialNo = i + 1;
}
return(listPathPoint);
}