尝试掌握pycharm中关于版本控制的功能

""" @file: new @time: 2024-07-25 22:53 @author: Ke Li @desc: """ from shapely import LineString def get_approximate_line_shape(self, line_shape, start_theta, robot_shape, orientation, orientation_type): """ 基于离散polygon取union的方式获得锁区的近似体 :param line_shape: :param start_theta: :param robot_shape: :param orientation :param orientation_type :return: """ moving_polygons = [] # 设置一个微小的膨胀区 base_polygon = copy.deepcopy(robot_shape).buffer(distance=self.config.buffer_traffic_locks_margin, cap_style='flat') if orientation_type == "GLOBAL": base_polygon = rotate(base_polygon, angle=orientation, use_radians=True) elif orientation_type == "TANGENTIAL": pass else: raise Exception("Orientation Type Error:{}---Supported Types: GLOBAL, TANGENTIAL".format(orientation_type)) for i in range(len(line_shape.coords) - 1): start = line_shape.coords[i] end = line_shape.coords[i + 1] start_polygon = copy.deepcopy(base_polygon) if orientation_type == "TANGENTIAL": # 对于TANGENTIAL类型，在移动中需要修改其对应角度 # 先计算线段角度 line_theta = math.atan2(end[1] - start[1], end[0] - start[0]) if i == 0 and np.round( min(abs(line_theta - start_theta), 2 * np.pi - abs(line_theta - start_theta)), 2) == 3.14: # 在起点时，比对一下start_theta是否和该线的方向相反，若相反，angle需要取反向 line_theta += np.pi start_polygon = rotate(start_polygon, origin=[0, 0], angle=line_theta, use_radians=True) moving_polygon = translate(start_polygon, xoff=start[0], yoff=start[1]) # 平移多边形 translated_polygon = translate(start_polygon, xoff=end[0], yoff=end[1]) # 创建连接原始多边形和平移多边形的侧面 sides = [] original_coords = list(moving_polygon.exterior.coords) translated_coords = list(translated_polygon.exterior.coords) for i in range(len(original_coords) - 1): side = shapely.geometry.Polygon( [original_coords[i], original_coords[i + 1], translated_coords[i + 1], translated_coords[i]]) sides.append(side) moving_polygons.append(unary_union(sides + [moving_polygon, translated_polygon])) # # 获取平滑部分 # smooth_line_shape = self.get_curve_global_oriented_line_shape(line_shape=line_shape, # orientation=0, # robot_shape=copy.deepcopy(robot.shape_base)) union_line_shape = unary_union(moving_polygons) # print("region:", list(union_line_shape.exterior.coords)) return union_line_shape