From 6b7d9d7cff3704e048ee09b32f49d3d6a2358847 Mon Sep 17 00:00:00 2001
From: “mitao” <“2763622819@qq.com”>
Date: 星期五, 27 三月 2026 16:36:54 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java | 245 +++++++++++++++++++++++++-----------------------
1 files changed, 128 insertions(+), 117 deletions(-)
diff --git a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java
index febfded..7bddf2b 100644
--- a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java
+++ b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java
@@ -10,9 +10,7 @@
import org.gavaghan.geodesy.GeodeticCurve;
import org.gavaghan.geodesy.GlobalCoordinates;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
import java.util.concurrent.*;
@@ -29,8 +27,9 @@
* @param latitude
* @return
*/
- public static List<LonLatDto> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
+ public static Map<String, List<LonLatDto>> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
//导航数据只有一个点的情况
+ Map<String, List<LonLatDto>> map = new HashMap<>();
if(polyline.size() == 1){
LonLatDto lonLatDto = polyline.get(0);
GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto.getLatitude(), lonLatDto.getLongitude());
@@ -39,12 +38,16 @@
double distance =geoCurve1.getEllipsoidalDistance();
//判断距离小于5米，则可以返回空数据
if(5 >= distance){
- return Collections.emptyList();
+ map.put("unserved", Collections.emptyList());
+ map.put("served", Collections.emptyList());
+ return map;
}
//大于5米的情况，将车子当前位置添加进结果中
lonLatDto = new LonLatDto(longitude, latitude);
polyline.add(0, lonLatDto);
- return polyline;
+ map.put("unserved", polyline);
+ map.put("served", Collections.emptyList());
+ return map;
}
//多个点位的情况，需要找出当前点位处于那两个点位之间，然后截取掉超出的部分轨迹
return getRecentlyPoint(polyline, longitude, latitude);
@@ -59,7 +62,8 @@
* @param latitude
* @return
*/
- public static List<LonLatDto> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
+ public static Map<String, List<LonLatDto>> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
+ Map<String, List<LonLatDto>> map = new HashMap<>();
for (int i = 0; i < polyline.size(); i++) {
LonLatDto lonLatDto1 = polyline.get(i);
@@ -82,124 +86,131 @@
//判断当前位置是否处于两个点位之间
if((distance1 + distance2) == distance3 || (distance1 + distance2) <= distance3 + 5){
+ //剩余未服务的点位
List<LonLatDto> lonLatDtos = polyline.subList(i + 1, polyline.size());
lonLatDtos.add(0, new LonLatDto(longitude, latitude));
- return lonLatDtos;
+ //已经服务的点位，给到前端处理
+ List<LonLatDto> lonLatDtos1 = polyline.subList(0, i + 1);
+ map.put("unserved", lonLatDtos);
+ map.put("served", lonLatDtos1);
+ return map;
}
}
polyline.add(0, new LonLatDto(longitude, latitude));
- return polyline;
+ map.put("unserved", polyline);
+ map.put("served", Collections.emptyList());
+ return map;
}
- public static void main(String[] args) {
- JSONArray objects = JSON.parseArray("[{\n" +
- "\t\t\"latitude\": 30.58549,\n" +
- "\t\t\"longitude\": 104.054501\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.585938,\n" +
- "\t\t\"longitude\": 104.054501\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.586522,\n" +
- "\t\t\"longitude\": 104.054501\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.587026,\n" +
- "\t\t\"longitude\": 104.054507\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.587922,\n" +
- "\t\t\"longitude\": 104.054518\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.588062,\n" +
- "\t\t\"longitude\": 104.054518\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.588292,\n" +
- "\t\t\"longitude\": 104.054528\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.588292,\n" +
- "\t\t\"longitude\": 104.0544\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.588292,\n" +
- "\t\t\"longitude\": 104.0544\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.587949,\n" +
- "\t\t\"longitude\": 104.054384\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.587311,\n" +
- "\t\t\"longitude\": 104.054389\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.587118,\n" +
- "\t\t\"longitude\": 104.054394\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.586704,\n" +
- "\t\t\"longitude\": 104.054394\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.586125,\n" +
- "\t\t\"longitude\": 104.0544\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.585938,\n" +
- "\t\t\"longitude\": 104.054405\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.585476,\n" +
- "\t\t\"longitude\": 104.054405\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.584693,\n" +
- "\t\t\"longitude\": 104.054405\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.584403,\n" +
- "\t\t\"longitude\": 104.054416\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.584312,\n" +
- "\t\t\"longitude\": 104.054416\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.583593,\n" +
- "\t\t\"longitude\": 104.054416\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.583486,\n" +
- "\t\t\"longitude\": 104.054416\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.583116,\n" +
- "\t\t\"longitude\": 104.054421\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.582391,\n" +
- "\t\t\"longitude\": 104.054426\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.582397,\n" +
- "\t\t\"longitude\": 104.054577\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.582397,\n" +
- "\t\t\"longitude\": 104.054577\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.582815,\n" +
- "\t\t\"longitude\": 104.054561\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.58311,\n" +
- "\t\t\"longitude\": 104.05455\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.58311,\n" +
- "\t\t\"longitude\": 104.05455\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.58311,\n" +
- "\t\t\"longitude\": 104.054899\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.583143,\n" +
- "\t\t\"longitude\": 104.054931\n" +
- "\t}, {\n" +
- "\t\t\"latitude\": 30.583148,\n" +
- "\t\t\"longitude\": 104.054973\n" +
- "\t}]");
- List<LonLatDto> lonLatDtoList = new ArrayList<>();
- for (int i = 0; i < objects.size(); i++) {
- JSONObject object = objects.getJSONObject(i);
- LonLatDto lonLatDto = new LonLatDto(object.getDouble("longitude"), object.getDouble("latitude"));
- lonLatDtoList.add(lonLatDto);
- }
- for (int i = 0; i < 20; i++) {
- List<LonLatDto> remainingNavigation = getRemainingNavigation(lonLatDtoList, 104.054503, 30.58549);
- lonLatDtoList = remainingNavigation;
- }
-
-
- }
+// public static void main(String[] args) {
+// JSONArray objects = JSON.parseArray("[{\n" +
+// "\t\t\"latitude\": 30.58549,\n" +
+// "\t\t\"longitude\": 104.054501\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.585938,\n" +
+// "\t\t\"longitude\": 104.054501\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.586522,\n" +
+// "\t\t\"longitude\": 104.054501\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.587026,\n" +
+// "\t\t\"longitude\": 104.054507\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.587922,\n" +
+// "\t\t\"longitude\": 104.054518\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.588062,\n" +
+// "\t\t\"longitude\": 104.054518\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.588292,\n" +
+// "\t\t\"longitude\": 104.054528\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.588292,\n" +
+// "\t\t\"longitude\": 104.0544\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.588292,\n" +
+// "\t\t\"longitude\": 104.0544\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.587949,\n" +
+// "\t\t\"longitude\": 104.054384\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.587311,\n" +
+// "\t\t\"longitude\": 104.054389\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.587118,\n" +
+// "\t\t\"longitude\": 104.054394\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.586704,\n" +
+// "\t\t\"longitude\": 104.054394\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.586125,\n" +
+// "\t\t\"longitude\": 104.0544\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.585938,\n" +
+// "\t\t\"longitude\": 104.054405\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.585476,\n" +
+// "\t\t\"longitude\": 104.054405\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.584693,\n" +
+// "\t\t\"longitude\": 104.054405\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.584403,\n" +
+// "\t\t\"longitude\": 104.054416\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.584312,\n" +
+// "\t\t\"longitude\": 104.054416\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.583593,\n" +
+// "\t\t\"longitude\": 104.054416\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.583486,\n" +
+// "\t\t\"longitude\": 104.054416\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.583116,\n" +
+// "\t\t\"longitude\": 104.054421\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.582391,\n" +
+// "\t\t\"longitude\": 104.054426\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.582397,\n" +
+// "\t\t\"longitude\": 104.054577\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.582397,\n" +
+// "\t\t\"longitude\": 104.054577\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.582815,\n" +
+// "\t\t\"longitude\": 104.054561\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.58311,\n" +
+// "\t\t\"longitude\": 104.05455\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.58311,\n" +
+// "\t\t\"longitude\": 104.05455\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.58311,\n" +
+// "\t\t\"longitude\": 104.054899\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.583143,\n" +
+// "\t\t\"longitude\": 104.054931\n" +
+// "\t}, {\n" +
+// "\t\t\"latitude\": 30.583148,\n" +
+// "\t\t\"longitude\": 104.054973\n" +
+// "\t}]");
+// List<LonLatDto> lonLatDtoList = new ArrayList<>();
+// for (int i = 0; i < objects.size(); i++) {
+// JSONObject object = objects.getJSONObject(i);
+// LonLatDto lonLatDto = new LonLatDto(object.getDouble("longitude"), object.getDouble("latitude"));
+// lonLatDtoList.add(lonLatDto);
+// }
+// for (int i = 0; i < 20; i++) {
+// List<LonLatDto> remainingNavigation = getRemainingNavigation(lonLatDtoList, 104.054503, 30.58549);
+// lonLatDtoList = remainingNavigation;
+// }
+//
+//
+// }
/**
--
Gitblit v1.7.1