/// <summary>
/// 读取segment节点信息
/// </summary>
private Segment readSegNode(XmlNode segNode)
{
Segment ans = new Segment();
for (int i = 0; i < segNode.ChildNodes.Count; ++i)
{
XmlNode sub = segNode.ChildNodes[i];
// 填充节点信息
SimPoint simP = new SimPoint();
for (int j = 0; j < sub.ChildNodes.Count; ++j)
{
ValSet.SetModelValue(sub.ChildNodes[j].Name, sub.ChildNodes[j].InnerText, simP);
}
// 添加至左侧或者右侧
if (sub.Name.Equals(MapInfo.detLS))
{
ans.LeftP.Add(simP);
}
else
{
ans.RightP.Add(simP);
}
}
return(ans);
}
// add new left and rigth side point
public void addPoint(SimPoint left, SimPoint righ)
{
int li = leftPs.Count - 1;
int ri = righPs.Count - 1;
if (li < 0 || ri < 0)
{
leftPs.Add(left);
righPs.Add(righ);
}
else
{
if (leftPs[li].getDis(left) < 0.01 ||
righPs[ri].getDis(righ) < 0.01)
{
return;
}
// 没有转向
//if (MoveInfo.curTurn == MoveInfo.Turning.NoTurn)
//{
leftPs.Add(left);
righPs.Add(righ);
//leftEnd = righEnd = -1;
//}
//// 当前转向为向左转
//else if (MoveInfo.curTurn == MoveInfo.Turning.TrunLeft)
//{
// leftEnd = (leftEnd == -1) ? leftPs.Count : leftEnd;
// leftPs.Insert(leftEnd, left);
// righPs.Add(righ);
//}
//else if (MoveInfo.curTurn == MoveInfo.Turning.TurnRight)
//{
// righEnd = (righEnd == -1) ? righPs.Count : righEnd;
// righPs.Insert(righEnd, righ);
// leftPs.Add(left);
//}
}
}
/// <summary>
///
/// </summary>
private void cutWorker(int start, int end, List <SimPoint> list, List <int> keys)
{
// too less points return
if (end - start < 3)
{
return;
}
// recode the max value
int maxI = start;
double maxV = 0;
// every step change in x and y
double perX = (list[end].x - list[start].x) / (end - start);
double perY = (list[end].y - list[start].y) / (end - start);
// find the max distance
for (int i = start + 1; i < end; ++i)
{
SimPoint p = list[i];
double curD = p.getDis(list[start].x + perX * (i - start),
list[start].y + perY * (i - start));
// compare and get the distance
if (curD > maxV)
{
maxV = curD;
maxI = i;
}
}
if (maxV < range)
{
return;
}
// recode the special point and check the next one
keys.Add(maxI);
cutWorker(start, maxI, list, keys);
cutWorker(maxI, end, list, keys);
}
/// <summary>
/// Get the distance between two points
/// </summary>
public double getDis(SimPoint point)
{
return(this.getDis(point.x, point.y));
}
