154 lines
5.9 KiB
Markdown
154 lines
5.9 KiB
Markdown
⎿ 最少转弯路径实现计划（基于Roy-T.AStar官方API）
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实施策略：严格保护现有算法
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阶段一：数据结构扩展
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1. 添加路径策略枚举
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位置：src/PathPlanning/PathPlanningModels.cs
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public enum PathStrategy
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{
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Shortest = 0, // 默认：标准最短路径（现有行为）
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Straightest = 1 // 新增：直线优先路径
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}
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2. 扩展AutoPathFinder方法签名
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位置：src/PathPlanning/AutoPathFinder.cs
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- 新增重载：FindPath(..., PathStrategy strategy = PathStrategy.Shortest)
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- 保留所有现有方法不变
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阶段二：核心算法实现
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3. 实现方向感知的网格转换
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新增方法：ConvertToAStarGridWithStrategy()
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private Grid ConvertToAStarGridWithStrategy(GridMap gridMap, Point3D startPos, Point3D endPos, PathStrategy strategy,
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double objectHeight)
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{
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if (strategy == PathStrategy.Shortest) {
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// 调用现有方法，保证100%兼容
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return ConvertToAStarGridWith2_5D(gridMap, channelCoverage, objectHeight);
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}
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// 直线优先实现
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return ConvertToAStarGridStraightest(gridMap, startPos, endPos, objectHeight);
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}
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4. 直线优先算法核心
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基于文档第127行的AddEdge模式：
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private Grid ConvertToAStarGridStraightest(GridMap gridMap, Point3D start, Point3D end, double objectHeight)
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{
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// 1. 计算主方向
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double dx = Math.Abs(end.X - start.X);
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double dy = Math.Abs(end.Y - start.Y);
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bool preferHorizontal = dx > dy;
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// 2. 差异化速度设置（基于文档的Velocity.FromKilometersPerHour）
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var mainDirectionVelocity = Velocity.FromKilometersPerHour(10); // 主方向：低成本
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var crossDirectionVelocity = Velocity.FromKilometersPerHour(2); // 次方向：高成本
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var diagonalVelocity = Velocity.FromKilometersPerHour(5); // 对角线：中等成本
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// 3. 按现有模式创建和断开网格（文档第104-108行）
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var grid = Grid.CreateGridWithLateralConnections(gridSize, cellSize, mainDirectionVelocity);
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// 先断开所有连接
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for (int x = 0; x < gridMap.Width; x++) {
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for (int y = 0; y < gridMap.Height; y++) {
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grid.DisconnectNode(new GridPosition(x, y));
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}
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}
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// 4. 智能连接：根据方向设置不同速度（文档第115-126行模式）
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for (int x = 0; x < gridMap.Width; x++) {
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for (int y = 0; y < gridMap.Height; y++) {
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if (IsPassableWithHeight(gridMap.Cells[x, y], objectHeight)) {
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var pos = new GridPosition(x, y);
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// 水平连接
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if (x + 1 < gridMap.Width && IsPassableWithHeight(gridMap.Cells[x + 1, y], objectHeight)) {
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var rightPos = new GridPosition(x + 1, y);
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var velocity = preferHorizontal ? mainDirectionVelocity : crossDirectionVelocity;
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grid.AddEdge(pos, rightPos, velocity);
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grid.AddEdge(rightPos, pos, velocity);
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}
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// 垂直连接
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if (y + 1 < gridMap.Height && IsPassableWithHeight(gridMap.Cells[x, y + 1], objectHeight)) {
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var bottomPos = new GridPosition(x, y + 1);
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var velocity = preferHorizontal ? crossDirectionVelocity : mainDirectionVelocity;
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grid.AddEdge(pos, bottomPos, velocity);
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grid.AddEdge(bottomPos, pos, velocity);
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}
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// 对角线连接（可选）
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if (x + 1 < gridMap.Width && y + 1 < gridMap.Height &&
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IsPassableWithHeight(gridMap.Cells[x + 1, y + 1], objectHeight)) {
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var diagonalPos = new GridPosition(x + 1, y + 1);
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grid.AddEdge(pos, diagonalPos, diagonalVelocity);
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grid.AddEdge(diagonalPos, pos, diagonalVelocity);
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}
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}
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}
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}
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return grid;
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}
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阶段三：集成到现有流程
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5. 扩展PathPlanningManager调用
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位置：src/Core/PathPlanningManager.cs
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- 在AutoPlanPath方法中添加可选策略参数
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- 默认值确保现有调用完全不变
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6. 策略路由逻辑
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public Task<PathRoute> AutoPlanPath(..., PathStrategy strategy = PathStrategy.Shortest)
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{
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// 现有逻辑保持不变...
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// 策略感知的路径查找
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pathResult = pathFinder.FindPath(startPoint.Position, endPoint.Position, gridMap, channelCoverage, objectHeight,
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strategy);
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}
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阶段四：质量保证
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7. 兼容性验证
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- ✅ 所有现有单元测试必须通过
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- ✅ 默认调用行为与当前完全一致
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- ✅ 现有UI调用无需任何修改
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8. 功能验证
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- ✅ 对比两种策略的路径差异
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- ✅ 验证直线优先路径确实减少转弯
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- ✅ 性能测试确保无显著性能影响
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9. 调试支持
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基于文档第237行的日志模式：
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LogManager.Info($"[直线优先] 主方向: {(preferHorizontal ? "水平" : "垂直")}, 起点({start.X:F2},{start.Y:F2}),
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终点({end.X:F2},{end.Y:F2})");
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LogManager.Info($"[速度设置] 主方向: {mainDirectionVelocity.InKilometersPerHour}km/h, 次方向:
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{crossDirectionVelocity.InKilometersPerHour}km/h");
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交付成果
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1. 零破坏性扩展：现有功能100%保持原样
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2. 基于官方API：使用Roy-T.AStar文档化的最佳实践
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3. 易于使用：通过可选参数启用新功能
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4. 充分测试：确保稳定性和兼容性
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5. 详细日志：便于调试和性能分析
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测试用例设计
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- 现有路径 vs 直线优先路径的转弯次数对比
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- 长距离直线路径的优化效果验证
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- 复杂地形下的算法鲁棒性测试
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