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更新车辆长度

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This commit is contained in:
xuzhiheng 2025-07-03 17:54:49 +08:00
parent c07ca22d29
commit 3553cb17ec
2 changed files with 5 additions and 5 deletions
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6
opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java
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@ -1052,13 +1052,13 @@ public class DefaultVehicleController
case LENGTH_RESPECTED: case LENGTH_RESPECTED:
// Free resources allocated for executed commands, but keep as many as needed for the // Free resources allocated for executed commands, but keep as many as needed for the
// vehicle's current length. // vehicle's current length.
long vehicleLeghtRadius = 3700 / 2; //车辆长度半径 BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox(); //长度有问题
BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox().withLength(vehicleLeghtRadius); //长度有问题 long length = boundingBox.getLength() / 2; //车辆长度半径
int freeableResourceSetCount int freeableResourceSetCount
= ResourceMath.freeableResourceSetCount( = ResourceMath.freeableResourceSetCount(
SplitResources.from(allocatedResources, Set.of(currentVehiclePosition)) SplitResources.from(allocatedResources, Set.of(currentVehiclePosition))
.getResourcesPassed(), .getResourcesPassed(),
boundingBox.getLength() length
); );
for (int i = 0; i < freeableResourceSetCount; i++) { for (int i = 0; i < freeableResourceSetCount; i++) {
Set<TCSResource<?>> oldResources = allocatedResources.poll(); Set<TCSResource<?>> oldResources = allocatedResources.poll();

4
opentcs-kernel/src/main/resources/org/opentcs/kernel/distribution/config/opentcs-kernel-defaults-baseline.properties
View File

@ -78,8 +78,8 @@ virtualvehicle.commandQueueCapacity = 2
virtualvehicle.rechargeOperation = CHARGE virtualvehicle.rechargeOperation = CHARGE
virtualvehicle.rechargePercentagePerSecond = 1.0 virtualvehicle.rechargePercentagePerSecond = 1.0
virtualvehicle.simulationTimeFactor = 1.0 virtualvehicle.simulationTimeFactor = 1.0
virtualvehicle.vehicleLengthLoaded = 1000 virtualvehicle.vehicleLengthLoaded = 3700
virtualvehicle.vehicleLengthUnloaded = 1000 virtualvehicle.vehicleLengthUnloaded = 3700
virtualvehicle.chargingStrategyName = threshold_charging_strategy virtualvehicle.chargingStrategyName = threshold_charging_strategy
virtualvehicle.energyDrainRatePerSecond = 10.0 virtualvehicle.energyDrainRatePerSecond = 10.0