//样条曲线显示
private void BsplineReviewWithDir(string dataPath, Graphics gr)
{
//数据读取
StreamReader pathFile = File.OpenText(dataPath);
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;
}
Pen myPen = new Pen(System.Drawing.Color.Yellow, 1);
PointF pntOld = new PointF();
PointF pntNow = new PointF();
float dirOld = 0.0f;
float dirNow = 0.0f;
int tempFlag = 0;
foreach (string str in tempString)
{
string[] sArray = str.Split(',');
PointF pnt;
pntNow.X = float.Parse(sArray[0]);
pntNow.Y = float.Parse(sArray[1]);
dirNow = float.Parse(sArray[2]);
pnt = ViewControl.GetPanelAxes(float.Parse(sArray[0]), float.Parse(sArray[1]));
gr.DrawEllipse(myPen, pnt.X, pnt.Y, 3, 3);
if (tempFlag == 0)
{
pntOld = pntNow;
dirOld = dirNow;
tempFlag = 1;
continue;
}
Bspline.DrawBspline2(gr, pntOld, pntNow, dirOld, dirNow);
pntOld = pntNow;
dirOld = dirNow;
}
}
//样条曲线显示
private void BsplineReview(string dataPath, Graphics gr)
{
//数据读取
StreamReader pathFile = File.OpenText(dataPath);
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(System.Drawing.Color.Yellow, 1);
foreach (string str in tempString)
{
string[] sArray = str.Split(',');
PointF pnt;
tempPnts.Add(new PointF(float.Parse(sArray[0]), float.Parse(sArray[1])));
pnt = ViewControl.GetPanelAxes(float.Parse(sArray[0]), float.Parse(sArray[1]));
gr.DrawEllipse(myPen, pnt.X, pnt.Y, 3, 3);
}
System.Drawing.PointF[] tempPoint = tempPnts.ToArray();
myPen.Color = System.Drawing.Color.Yellow;
Bspline.DrawBspline1(tempPnts.Count(), gr, myPen, tempPoint);
}
