From 3553cb17ec2b1075525db058aee209d4e30b20aa Mon Sep 17 00:00:00 2001 From: xuzhiheng <2543137953@qq.com> Date: Thu, 3 Jul 2025 17:54:49 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=BD=A6=E8=BE=86=E9=95=BF?= =?UTF-8?q?=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../opentcs/kernel/vehicles/DefaultVehicleController.java | 6 +++--- .../config/opentcs-kernel-defaults-baseline.properties | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java b/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java index ba03efd..1f9b7c6 100644 --- a/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java +++ b/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java @@ -1052,13 +1052,13 @@ public class DefaultVehicleController case LENGTH_RESPECTED: // Free resources allocated for executed commands, but keep as many as needed for the // vehicle's current length. - long vehicleLeghtRadius = 3700 / 2; //车辆长度半径 - BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox().withLength(vehicleLeghtRadius); //长度有问题 + BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox(); //长度有问题 + long length = boundingBox.getLength() / 2; //车辆长度半径 int freeableResourceSetCount = ResourceMath.freeableResourceSetCount( SplitResources.from(allocatedResources, Set.of(currentVehiclePosition)) .getResourcesPassed(), - boundingBox.getLength() + length ); for (int i = 0; i < freeableResourceSetCount; i++) { Set> oldResources = allocatedResources.poll(); diff --git a/opentcs-kernel/src/main/resources/org/opentcs/kernel/distribution/config/opentcs-kernel-defaults-baseline.properties b/opentcs-kernel/src/main/resources/org/opentcs/kernel/distribution/config/opentcs-kernel-defaults-baseline.properties index 4aca9ff..1797ae6 100644 --- a/opentcs-kernel/src/main/resources/org/opentcs/kernel/distribution/config/opentcs-kernel-defaults-baseline.properties +++ b/opentcs-kernel/src/main/resources/org/opentcs/kernel/distribution/config/opentcs-kernel-defaults-baseline.properties @@ -78,8 +78,8 @@ virtualvehicle.commandQueueCapacity = 2 virtualvehicle.rechargeOperation = CHARGE virtualvehicle.rechargePercentagePerSecond = 1.0 virtualvehicle.simulationTimeFactor = 1.0 -virtualvehicle.vehicleLengthLoaded = 1000 -virtualvehicle.vehicleLengthUnloaded = 1000 +virtualvehicle.vehicleLengthLoaded = 3700 +virtualvehicle.vehicleLengthUnloaded = 3700 virtualvehicle.chargingStrategyName = threshold_charging_strategy virtualvehicle.energyDrainRatePerSecond = 10.0