轨迹管理的几个关键问题

class Waypoint:
    def __init__(self, id, position, timestamp=None):
        self.id = id
        self.position = position  # (x, y, z)
        self.timestamp = timestamp  # 到达此航点的时间

class AreaBoundary:
    def __init__(self, boundary_type, points=None, center=None, radius=None):
        self.boundary_type = boundary_type  # 'polygon' 或 'circle'
        self.points = points  # 多边形的顶点坐标
        self.center = center  # 圆形区域的中心点
        self.radius = radius  # 圆形区域的半径

class TurnPoint:
    def __init__(self, position, curvature=None):
        self.position = position  # 转弯点位置
        self.curvature = curvature  # 转弯的曲率（可选）

route_segments = [
    Waypoint('WP1', (100, 200, 50)),  # 起点
    Waypoint('WP2', (200, 300, 50)),  # 中间点
    Waypoint('WP3', (300, 400, 50)),  # 终点
]

area_around_point = AreaBoundary('circle', center=(250, 350, 50), radius=20)

coverage_area = AreaBoundary('polygon', points=[(300, 400), (500, 400), (500, 600), (300, 600)])
# 往复飞行扫描路径，计算两个点之间的扫描间距
scan_spacing = 10  # 扫描间距

# 设定从绕飞路径到覆盖路径的过渡连接点
turn_point = TurnPoint((400, 500, 50), curvature=0.1)

def smooth_path(waypoints):
    # 使用B样条插值或Bezier曲线插值进行平滑
    smooth_waypoints = perform_interpolation(waypoints)
    return smooth_waypoints

# 航路规划示例
route_plan = RoutePlan()

# 定义航点
waypoints = [
    Waypoint('WP1', (100, 200, 50)),
    Waypoint('WP2', (200, 300, 50)),
    Waypoint('WP3', (300, 400, 50)),
]

# 添加航点到航路
route_plan.route_segments.extend([Waypoint('WP1', (100, 200, 50)), Waypoint('WP2', (200, 300, 50))])

# 定义区域绕飞
area_boundary = AreaBoundary('circle', center=(250, 350, 50), radius=20)

# 添加区域绕飞到航路
route_plan.route_segments.append(area_boundary)

# 定义覆盖区域
coverage_area = AreaBoundary('polygon', points=[(300, 400), (500, 400), (500, 600), (300, 600)])

# 添加覆盖区域到航路
route_plan.route_segments.append(coverage_area)

# 最终的航路连接点设置
route_plan.route_segments.append(Waypoint('WP3', (300, 400, 50)))  # 终点

# 定义圆形盘旋
orbit_loiter = {
    "center": (200, 300, 50),  # 圆心
    "radius": 20,             # 半径
    "direction": "CW",        # 顺时针
    "speed": 5,               # 速度
    "n_loops": 3,             # 圈数
}

# 定义跑道型绕飞
race_track_loiter = {
    "start_point": (100, 200, 50),
    "end_point": (300, 200, 50),
    "line_length": 100,
    "turn_radius": 30,
    "direction": "CW",
    "speed": 5,
    "n_loops": 2,
}

# 定义8字形绕飞
figure_8_loiter = {
    "center": (200, 300, 50),
    "big_radius": 30,
    "small_radius": 20,
    "speed": 4,
    "n_loops": 3,
    "direction": "CCW",
}

# 定义区域覆盖路径
coverage_path = {
    "start_point": (100, 100, 50),
    "end_point": (500, 500, 50),
    "boundary": [(100, 100), (500, 100), (500, 500), (100, 500)],
    "scan_spacing": 10,
    "path_pattern": "ZIGZAG",
    "speed": 6,
    "coverage_rate": 100,
}