/// <summary> /// 加载反光柱的图层 /// </summary> /// <returns></returns> public static GraphAevironment LoadTheLightMsg() { GraphAevironment graph = null; try { string[] read = File.ReadAllLines(Application.StartupPath + @"\TheLightInformation.ini"); graph = new GraphAevironment(read.Length); double [,] TEM = new double[read.Length, read.Length]; for (int i = 0; i < read.Length; i++) { TheLightNode node = JsonConvert.DeserializeObject <TheLightNode>(read [i]); graph.SetNode(node.NumberNo - 1, node); //添加节点 } for (int J = 0; J < graph.NODE.Length; J++) { for (int K = J; K < graph.NODE.Length; K++) { if (J != K) { double len = Math.Sqrt(Math.Pow(graph.NODE[J].Polar, 2) + Math.Pow(graph.NODE [K].Polar, 2) - 2 * graph.NODE[J].Polar * graph.NODE[K].Polar * Math.Cos(Math.PI * (graph.NODE[J].Angle - graph.NODE[K].Angle) / 180)); graph.SetMatrix(J, K, len); //添加边 } } } TEM = graph.MATRIX; } catch (Exception ex) { MessageBox.Show(ex.ToString()); } return(graph); }
public CurrentWorld(GraphAevironment g, AGV car) { this.agv = car; this.G = g; }