/// <summary>
/// 根据百分比获取当前所在地方地标
/// </summary>
/// <param name="rate"></param>
private AgvPoint GetPositionPOnRate(float rate)
{
int rateleng = (int)(rate / (float)100 * (float)Lenght);
foreach (AgvPoint p in Points)
{
if (Index == 0)
{
Index = 1;
continue;
}
else
{
int len = GetLenght(Points[Index - 1], p);
rateleng = rateleng - len;
if (rateleng > 0)//还需判断下个点
{
Index++;
continue;
}
else
{
rateleng = rateleng + len;//源剩下长度
double rateP = Convert.ToDouble(rateleng) / Convert.ToDouble(len);
AgvPoint agvp = GetMP(rateP, Points[Index - 1], p);
Index = 0;
return(agvp);
}
}
}
return(null);
}
/// <summary>
/// 获取两点间的距离
/// </summary>
/// <returns></returns>
public int GetLenght(AgvPoint p1, AgvPoint p2)
{
int x = p1.X - p2.X;
int y = p1.Y - p2.Y;
return((int)Math.Sqrt((double)(x * x) + (double)(y * y)));
}
public void AddPoint(AgvPoint point)
{
Points.Add(point);
if (Points.Count > 1)
{
Lenght += GetLenght(Points[Points.Count - 2], point);
}
}
/// <summary>
/// 根据百分比获取两个点直接的百分比的坐标值
/// </summary>
/// <param name="rate"></param>
/// <param name="p1"></param>
/// <param name="p2"></param>
/// <returns></returns>
public AgvPoint GetMP(double rate, AgvPoint p1, AgvPoint p2)
{
int x = ((int)((double)rate * (p2.X - p1.X)) + p1.X);
int y = ((int)((double)rate * (p2.Y - p1.Y)) + p1.Y);
return(new AgvPoint {
X = x, Y = y
});
}