private List <RectangularObstacle> segmentSplineByX(SplineObstacle obstacle, Polynom poly, int obstaclePassDistance)
{
RealCoordinate current = new RealCoordinate(obstacle.points[0].x, obstacle.points[0].y - obstaclePassDistance);
RealCoordinate end = new RealCoordinate(obstacle.points[obstacle.points.Count - 1].x,
obstacle.points[obstacle.points.Count - 1].y);
List <RectangularObstacle> obstacles = new List <RectangularObstacle>();
RectangularObstacle firstObstacle = new RectangularObstacle(2 * obstaclePassDistance, obstaclePassDistance,
new RealCoordinate(current.x - obstaclePassDistance, current.y - obstaclePassDistance));
obstacles.Add(firstObstacle);
do
{
RectangularObstacle rect = new RectangularObstacle(2 * obstaclePassDistance, 2,
new RealCoordinate(current.x, current.y));
obstacles.Add(rect);
if (current.x + 2 <= end.x)
{
current.x += 2;
current.y = poly.getPolynomValue(current.x) - obstaclePassDistance;
}
else
{
current.x = end.x;
current.y = end.y;
}
} while (RealCoordinate.getDistanceBetweenCoordinates(current, end) != 0);
RectangularObstacle lastObstacle = new RectangularObstacle(2 * obstaclePassDistance, obstaclePassDistance,
new RealCoordinate(current.x, current.y));
obstacles.Add(lastObstacle);
return(obstacles);
}
private void drawSplineObstacle(SplineObstacle o)
{
Coordinate[] relLocs = new Coordinate[o.points.Count];
for (int i = 0; i < o.points.Count; i++)
{
Coordinate c = calculateRelativeCanvasPosition(o.points[i]);
relLocs[i] = c;
}
graphicsObj.DrawCurve(obstaclePen, relLocs.Select(item => new Point(item.x, item.y)).ToArray());
}
public List <RectangularObstacle> handleSplineObstacle(SplineObstacle obstacle, int obstaclePassDistance)
{
double[] x = obstacle.points.Select(item => (double)item.x).ToArray();
double[] y = obstacle.points.Select(item => (double)item.y).ToArray();
double[] coeficients = Polyfit(x, y, obstacle.points.Count - 1).Reverse().ToArray();
bool functionFlag = false;
if (isFunctionByY(coeficients))
{
coeficients = Polyfit(y, x, obstacle.points.Count - 1).Reverse().ToArray();
functionFlag = true;
}
Polynom poly = new Polynom(coeficients, functionFlag);
if (functionFlag == false)
{
return(segmentSplineByX(obstacle, poly, obstaclePassDistance));
}
else
{
return(segmentSplineByY(obstacle, poly, obstaclePassDistance));
}
}
