void GlobalMapView::UpdateEdgeFromMap(const ReferenceFrameId& a,
const ReferenceFrameId& b) {
Sophus::SE3t t_parent_child;
SlamEdgePtr edge = map_->GetEdgePtr(a, b);
if (edge && edge->transform(a, b, t_parent_child)) {
UpdateEdge(edge->id(), a, b, t_parent_child);
}
}
/// Creates a new complete graph
void TradeGraph::Create()
{
for(MapPoint pt(0, 0); pt.y < size.y; ++pt.y)
for(pt.x = 0; pt.x < size.x; ++pt.x)
FindMainPoint(pt);
for(MapPoint pt(0, 0); pt.y < size.y; ++pt.y)
for(pt.x = 0; pt.x < size.x; ++pt.x)
{
for(unsigned d = 0; d < 8; ++d)
UpdateEdge(pt, d, NULL);
}
}
void LinkedGEJunctionClosure_Helper( const AcGePoint3d& junctionPt )
{
//acutPrintf(_T("\n闭合点:(%.3f, %.3f)"), junctionPt.x, junctionPt.y);
AcDbObjectIdArray objIds;
FindLinesByPoint( junctionPt, objIds );
int len = objIds.length();
//acutPrintf(_T("\n找到要处理闭合的分支个数:%d"), len);
if( len < 1 ) return;
EdgeInfo ges;
BuildJunctionEdgeInfo( objIds, junctionPt, ges ); // 查找junctionPt坐标处的关联分支类图元
if( ges.size() > 0 )
{
SortJunctionEdge( ges ); // 调整顺序，按角度大小逆时针排列
EdgeJunctionClosureImpl( junctionPt, ges ); // 处理并修改相邻巷道的参数
}
UpdateEdge( objIds ); // 更新实体
}
/// Creates the graph at the beginning of the game using the data of the graph of another player
void TradeGraph::CreateWithHelpOfAnotherPlayer(const TradeGraph& helper, const GameClientPlayerList& players)
{
for(MapPoint pt(0, 0); pt.y < size.y; ++pt.y)
for(pt.x = 0; pt.x < size.x; ++pt.x)
{
MapPoint p(pt);
// Player hqs far away from this point?
unsigned nearest_hq = std::numeric_limits<unsigned>::max();
for(unsigned i = 0; i < players.getCount(); ++i)
{
unsigned new_distance = gwg->CalcDistance(helper.GetNode(p).main_pos, players[i].hqPos);
if(new_distance < nearest_hq)
nearest_hq = new_distance;
}
if(nearest_hq >= TGN_SIZE * 2)
GetNode(p) = helper.GetNode(p);
else
FindMainPoint(p);
}
for(MapPoint pt(0, 0); pt.y < size.y; ++pt.y)
for(pt.x = 0; pt.x < size.x; ++pt.x)
{
MapPoint p(pt);
// Player hqs far away from this point?
unsigned nearest_hq = std::numeric_limits<unsigned>::max();
for(unsigned i = 0; i < players.getCount(); ++i)
{
unsigned new_distance = gwg->CalcDistance(helper.GetNode(p).main_pos, players[i].hqPos);
if(new_distance < nearest_hq)
nearest_hq = new_distance;
}
if(nearest_hq < TGN_SIZE * 2)
for(unsigned d = 0; d < 8; ++d)
UpdateEdge(pt, d, &helper);
}
}
