Subject: Script To Reserve an Order Line

最新推荐文章于 2022-06-17 10:43:23 发布
最新推荐文章于 2022-06-17 10:43:23 发布
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CC 4.0 BY-SA版权
文章标签： header action attributes file parameters application
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.youkuaiyun.com/suntyq/article/details/4517301
本文提供了一个使用Oracle E-Business Suite API预留订单行的PL/SQL脚本示例。通过设置订单头信息及订单行详情，演示了如何调用OE_ORDER_PUB包的process_order过程来完成预留操作。

Please use the below script to reserve an Order Line

set serveroutput on
DECLARE
 l_header_rec OE_ORDER_PUB.Header_Rec_Type;
 l_line_tbl OE_ORDER_PUB.Line_Tbl_Type;
 l_action_request_tbl OE_ORDER_PUB.Request_Tbl_Type;
 l_header_adj_tbl OE_ORDER_PUB.Header_Adj_Tbl_Type;
 l_line_adj_tbl OE_ORDER_PUB.line_adj_tbl_Type;
 l_header_scr_tbl OE_ORDER_PUB.Header_Scredit_Tbl_Type;
 l_line_scredit_tbl OE_ORDER_PUB.Line_Scredit_Tbl_Type;
 l_request_rec OE_ORDER_PUB.Request_Rec_Type ;
 l_return_status VARCHAR2(1000);
 l_msg_count NUMBER;
 l_msg_data VARCHAR2(1000);
 p_api_version_number NUMBER :=1.0;
 p_init_msg_list VARCHAR2(10) := FND_API.G_FALSE;
 p_return_values VARCHAR2(10) := FND_API.G_FALSE;
 p_action_commit VARCHAR2(10) := FND_API.G_FALSE;
 x_return_status VARCHAR2(1);
 x_msg_count NUMBER;
 x_msg_data VARCHAR2(100);
 p_header_rec OE_ORDER_PUB.Header_Rec_Type := OE_ORDER_PUB.G_MISS_HEADER_REC;
 p_old_header_rec OE_ORDER_PUB.Header_Rec_Type := OE_ORDER_PUB.G_MISS_HEADER_REC;
 p_header_val_rec OE_ORDER_PUB.Header_Val_Rec_Type := OE_ORDER_PUB.G_MISS_HEADER_VAL_REC;
 p_old_header_val_rec OE_ORDER_PUB.Header_Val_Rec_Type := OE_ORDER_PUB.G_MISS_HEADER_VAL_REC;
 p_Header_Adj_tbl OE_ORDER_PUB.Header_Adj_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_TBL;
 p_old_Header_Adj_tbl OE_ORDER_PUB.Header_Adj_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_TBL;
 p_Header_Adj_val_tbl OE_ORDER_PUB.Header_Adj_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_VAL_TBL;
 p_old_Header_Adj_val_tbl OE_ORDER_PUB.Header_Adj_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_VAL_TBL;
 p_Header_price_Att_tbl OE_ORDER_PUB.Header_Price_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_PRICE_ATT_TBL;
 p_old_Header_Price_Att_tbl OE_ORDER_PUB.Header_Price_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_PRICE_ATT_TBL;
 p_Header_Adj_Att_tbl OE_ORDER_PUB.Header_Adj_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_ATT_TBL;
 p_old_Header_Adj_Att_tbl OE_ORDER_PUB.Header_Adj_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_ATT_TBL;
 p_Header_Adj_Assoc_tbl OE_ORDER_PUB.Header_Adj_Assoc_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_ASSOC_TBL;
 p_old_Header_Adj_Assoc_tbl OE_ORDER_PUB.Header_Adj_Assoc_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_ADJ_ASSOC_TBL;
 p_Header_Scredit_tbl OE_ORDER_PUB.Header_Scredit_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_SCREDIT_TBL;
 p_old_Header_Scredit_tbl OE_ORDER_PUB.Header_Scredit_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_SCREDIT_TBL;
 p_Header_Scredit_val_tbl OE_ORDER_PUB.Header_Scredit_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_SCREDIT_VAL_TBL;
 p_old_Header_Scredit_val_tbl OE_ORDER_PUB.Header_Scredit_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_HEADER_SCREDIT_VAL_TBL;
 p_line_tbl OE_ORDER_PUB.Line_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_TBL;
 p_old_line_tbl OE_ORDER_PUB.Line_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_TBL;
 p_line_val_tbl OE_ORDER_PUB.Line_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_VAL_TBL;
 p_old_line_val_tbl OE_ORDER_PUB.Line_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_VAL_TBL;
 p_Line_Adj_tbl OE_ORDER_PUB.Line_Adj_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_TBL;
 p_old_Line_Adj_tbl OE_ORDER_PUB.Line_Adj_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_TBL;
 p_Line_Adj_val_tbl OE_ORDER_PUB.Line_Adj_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_VAL_TBL;
 p_old_Line_Adj_val_tbl OE_ORDER_PUB.Line_Adj_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_VAL_TBL;
 p_Line_price_Att_tbl OE_ORDER_PUB.Line_Price_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_PRICE_ATT_TBL;
 p_old_Line_Price_Att_tbl OE_ORDER_PUB.Line_Price_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_PRICE_ATT_TBL;
 p_Line_Adj_Att_tbl OE_ORDER_PUB.Line_Adj_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_ATT_TBL;
 p_old_Line_Adj_Att_tbl OE_ORDER_PUB.Line_Adj_Att_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_ATT_TBL;
 p_Line_Adj_Assoc_tbl OE_ORDER_PUB.Line_Adj_Assoc_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_ASSOC_TBL;
 p_old_Line_Adj_Assoc_tbl OE_ORDER_PUB.Line_Adj_Assoc_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_ADJ_ASSOC_TBL;
 p_Line_Scredit_tbl OE_ORDER_PUB.Line_Scredit_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_SCREDIT_TBL;
 p_old_Line_Scredit_tbl OE_ORDER_PUB.Line_Scredit_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_SCREDIT_TBL;
 p_Line_Scredit_val_tbl OE_ORDER_PUB.Line_Scredit_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_SCREDIT_VAL_TBL;
 p_old_Line_Scredit_val_tbl OE_ORDER_PUB.Line_Scredit_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LINE_SCREDIT_VAL_TBL;
 p_Lot_Serial_tbl OE_ORDER_PUB.Lot_Serial_Tbl_Type := OE_ORDER_PUB.G_MISS_LOT_SERIAL_TBL;
 p_old_Lot_Serial_tbl OE_ORDER_PUB.Lot_Serial_Tbl_Type := OE_ORDER_PUB.G_MISS_LOT_SERIAL_TBL;
 p_Lot_Serial_val_tbl OE_ORDER_PUB.Lot_Serial_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LOT_SERIAL_VAL_TBL;
 p_old_Lot_Serial_val_tbl OE_ORDER_PUB.Lot_Serial_Val_Tbl_Type := OE_ORDER_PUB.G_MISS_LOT_SERIAL_VAL_TBL;
 p_action_request_tbl OE_ORDER_PUB.Request_Tbl_Type :=  OE_ORDER_PUB.G_MISS_REQUEST_TBL;
 x_header_val_rec OE_ORDER_PUB.Header_Val_Rec_Type;
 x_Header_Adj_tbl OE_ORDER_PUB.Header_Adj_Tbl_Type;
 x_Header_Adj_val_tbl OE_ORDER_PUB.Header_Adj_Val_Tbl_Type;
 x_Header_price_Att_tbl OE_ORDER_PUB.Header_Price_Att_Tbl_Type;
 x_Header_Adj_Att_tbl OE_ORDER_PUB.Header_Adj_Att_Tbl_Type;
 x_Header_Adj_Assoc_tbl OE_ORDER_PUB.Header_Adj_Assoc_Tbl_Type;
 x_Header_Scredit_tbl OE_ORDER_PUB.Header_Scredit_Tbl_Type;
 x_Header_Scredit_val_tbl OE_ORDER_PUB.Header_Scredit_Val_Tbl_Type;
 x_line_val_tbl OE_ORDER_PUB.Line_Val_Tbl_Type;
 x_Line_Adj_tbl OE_ORDER_PUB.Line_Adj_Tbl_Type;
 x_Line_Adj_val_tbl OE_ORDER_PUB.Line_Adj_Val_Tbl_Type;
 x_Line_price_Att_tbl OE_ORDER_PUB.Line_Price_Att_Tbl_Type;
 x_Line_Adj_Att_tbl OE_ORDER_PUB.Line_Adj_Att_Tbl_Type;
 x_Line_Adj_Assoc_tbl OE_ORDER_PUB.Line_Adj_Assoc_Tbl_Type;
 x_Line_Scredit_tbl OE_ORDER_PUB.Line_Scredit_Tbl_Type;
 x_Line_Scredit_val_tbl OE_ORDER_PUB.Line_Scredit_Val_Tbl_Type;
 x_Lot_Serial_tbl OE_ORDER_PUB.Lot_Serial_Tbl_Type;
 x_Lot_Serial_val_tbl OE_ORDER_PUB.Lot_Serial_Val_Tbl_Type;
 x_action_request_tbl OE_ORDER_PUB.Request_Tbl_Type;
 X_DEBUG_FILE VARCHAR2(100);
 l_line_tbl_index NUMBER;
 l_msg_index_out NUMBER(10);
BEGIN
 dbms_output.enable(1000000);
 fnd_global.apps_initialize(1318,21623,660); -- pass in user_id, responsibility_id, and application_id
 oe_msg_pub.initialize;
 oe_debug_pub.initialize;
 X_DEBUG_FILE := OE_DEBUG_PUB.Set_Debug_Mode('FILE');
 oe_debug_pub.SetDebugLevel(5); -- Use 5 for the most debuging output, I warn you its a lot of data
 dbms_output.put_line('START OF NEW DEBUG');
-- This is to reserve an order line
 l_line_tbl_index :=1;
-- Initialize record to missing
 l_line_tbl(l_line_tbl_index) := OE_ORDER_PUB.G_MISS_LINE_REC;
-- Line attributes
 l_line_tbl(l_line_tbl_index).header_id :=98258 ;
 l_line_tbl(l_line_tbl_index).line_id :=200874 ;
 l_line_tbl(l_line_tbl_index).reserved_quantity := 1;
 l_line_tbl(l_line_tbl_index).operation := OE_GLOBALS.G_OPR_UPDATE;
-- CALL TO PROCESS ORDER
 OE_ORDER_PUB.process_order (
  p_api_version_number => 1.0
  , p_init_msg_list => fnd_api.g_false
  , p_return_values => fnd_api.g_false
  , p_action_commit => fnd_api.g_false
  , x_return_status => l_return_status
  , x_msg_count => l_msg_count
  , x_msg_data => l_msg_data
  , p_header_rec => l_header_rec
  , p_line_tbl => l_line_tbl
  , p_action_request_tbl => l_action_request_tbl
-- OUT PARAMETERS
  , x_header_rec => l_header_rec
  , x_header_val_rec => x_header_val_rec
  , x_Header_Adj_tbl => x_Header_Adj_tbl
  , x_Header_Adj_val_tbl => x_Header_Adj_val_tbl
  , x_Header_price_Att_tbl => x_Header_price_Att_tbl
  , x_Header_Adj_Att_tbl => x_Header_Adj_Att_tbl
  , x_Header_Adj_Assoc_tbl => x_Header_Adj_Assoc_tbl
  , x_Header_Scredit_tbl => x_Header_Scredit_tbl
  , x_Header_Scredit_val_tbl => x_Header_Scredit_val_tbl
  , x_line_tbl => l_line_tbl
  , x_line_val_tbl => x_line_val_tbl
  , x_Line_Adj_tbl => x_Line_Adj_tbl
  , x_Line_Adj_val_tbl => x_Line_Adj_val_tbl
  , x_Line_price_Att_tbl => x_Line_price_Att_tbl
  , x_Line_Adj_Att_tbl => x_Line_Adj_Att_tbl
  , x_Line_Adj_Assoc_tbl => x_Line_Adj_Assoc_tbl
  , x_Line_Scredit_tbl => x_Line_Scredit_tbl
  , x_Line_Scredit_val_tbl => x_Line_Scredit_val_tbl
  , x_Lot_Serial_tbl => x_Lot_Serial_tbl
  , x_Lot_Serial_val_tbl => x_Lot_Serial_val_tbl
  , x_action_request_tbl => l_action_request_tbl
 );
 dbms_output.put_line('OM Debug file: ' ||oe_debug_pub.G_DIR||'/'||oe_debug_pub.G_FILE);
-- Retrieve messages 
 FOR i IN 1 .. l_msg_count
 LOOP
  Oe_Msg_Pub.get( p_msg_index => i
  , p_encoded => Fnd_Api.G_FALSE
  , p_data => l_msg_data
  , p_msg_index_out => l_msg_index_out);
  DBMS_OUTPUT.PUT_LINE('message is: ' || l_msg_data);
  DBMS_OUTPUT.PUT_LINE('message index is: ' || l_msg_index_out);
 END LOOP;
-- Check the return status
 IF l_return_status = FND_API.G_RET_STS_SUCCESS
 THEN
  dbms_output.put_line('Process Order Success');
 ELSE
  dbms_output.put_line('Failed');
 END IF;
END;
/
Commit;

Keywords

OE_ORDER_PUB ; 

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#include <iostream> #include <vector> #include <cmath> #include <algorithm> #include <stdexcept> #include <fstream> #include <iomanip> #include <limits> using namespace std; const double MIN_RADIUS = 10.0; // 最小转弯半径约束 // 二维点结构 struct Point { double x, y; Point(double x = 0, double y = 0) : x(x), y(y) {} Point operator+(const Point& p) const { return Point(x + p.x, y + p.y); } Point operator-(const Point& p) const { return Point(x - p.x, y - p.y); } Point operator*(double s) const { return Point(x * s, y * s); } Point operator/(double s) const { return Point(x / s, y / s); } double dot(const Point& p) const { return x * p.x + y * p.y; } double cross(const Point& p) const { return x * p.y - y * p.x; } double norm() const { return sqrt(x*x + y*y); } Point normalized() const { double n = norm(); return n > 0 ? *this / n : *this; } Point perpendicular() const { return Point(-y, x); } // 垂直向量 friend ostream& operator<<(ostream& os, const Point& p) { os << "(" << p.x << ", " << p.y << ")"; return os; } }; // 圆弧段 struct ArcSegment { Point center; double radius; double start_angle; // 弧度 double end_angle; // 弧度 vector<Point> generatePoints(int num_points = 30) const { vector<Point> points; double angle_step = (end_angle - start_angle) / num_points; for (int i = 0; i <= num_points; i++) { double angle = start_angle + i * angle_step; double x = center.x + radius * cos(angle); double y = center.y + radius * sin(angle); points.push_back(Point(x, y)); } return points; } }; // 直线段 struct LineSegment { Point start; Point end; vector<Point> generatePoints(int num_points = 30) const { vector<Point> points; Point dir = (end - start); double length = dir.norm(); if (length < 1e-10) return points; dir = dir / length; for (int i = 0; i <= num_points; i++) { double t = static_cast<double>(i) / num_points; Point p = start + dir * (t * length); points.push_back(p); } return points; } }; // 路径规划器 class PathPlanner { private: double min_radius; public: PathPlanner(double min_radius = MIN_RADIUS) : min_radius(min_radius) {} // 生成满足转弯半径的几何路径 vector<Point> generateGeometricPath(const Point& start, const Point& end) { // 设计关键点 Point A = start; Point B(-2, 4); // 第一个转弯起点 Point C(4, 11); // 第二个转弯起点 Point D = end; // 计算转弯参数 - 确保半径至少为min_radius double R = min_radius * 1.5; // 使用1.5倍最小转弯半径 // 第一个转弯：从垂直转向水平 Point center1(B.x + R, B.y); double angle1_start = M_PI; // 180度 double angle1_end = M_PI_2; // 90度 // 第二个转弯：从水平转向垂直 Point center2(C.x, C.y - R); double angle2_start = -M_PI_2; // -90度 double angle2_end = 0; // 0度 // 生成路径点 vector<Point> path_points; // 第一段直线: A to B LineSegment line1 = {A, B}; vector<Point> line1_points = line1.generatePoints(40); path_points.insert(path_points.end(), line1_points.begin(), line1_points.end()); // 第一段圆弧: B to arc_end1 ArcSegment arc1 = {center1, R, angle1_start, angle1_end}; Point arc_end1(center1.x, center1.y - R); vector<Point> arc1_points = arc1.generatePoints(50); path_points.insert(path_points.end(), arc1_points.begin(), arc1_points.end()); // 第二段直线: arc_end1 to arc_start2 Point arc_start2(center2.x - R, center2.y); LineSegment line2 = {arc_end1, arc_start2}; vector<Point> line2_points = line2.generatePoints(40); path_points.insert(path_points.end(), line2_points.begin(), line2_points.end()); // 第二段圆弧: arc_start2 to C ArcSegment arc2 = {center2, R, angle2_start, angle2_end}; vector<Point> arc2_points = arc2.generatePoints(50); path_points.insert(path_points.end(), arc2_points.begin(), arc2_points.end()); // 第三段直线: C to D LineSegment line3 = {C, D}; vector<Point> line3_points = line3.generatePoints(40); path_points.insert(path_points.end(), line3_points.begin(), line3_points.end()); return path_points; } // 从几何路径生成贝塞尔曲线控制点（增加控制点数量） vector<Point> generateBezierControlPoints(const vector<Point>& path_points) { vector<Point> control_points; if (path_points.size() < 4) return control_points; // 增加控制点数量 - 每10个路径点取一个控制点 int step = max(1, (int)path_points.size() / 20); for (int i = 0; i < path_points.size(); i += step) { control_points.push_back(path_points[i]); } // 确保包含起点和终点 if (control_points.back() != path_points.back()) { control_points.push_back(path_points.back()); } // 在转弯区域添加额外控制点 int turn1_start = path_points.size() * 40 / 100; // 第一个转弯开始位置 int turn1_end = path_points.size() * 50 / 100; // 第一个转弯结束位置 int turn2_start = path_points.size() * 70 / 100; // 第二个转弯开始位置 int turn2_end = path_points.size() * 80 / 100; // 第二个转弯结束位置 // 添加第一个转弯区域的额外控制点 for (int i = turn1_start; i <= turn1_end; i += step/2) { if (i < path_points.size()) { control_points.push_back(path_points[i]); } } // 添加第二个转弯区域的额外控制点 for (int i = turn2_start; i <= turn2_end; i += step/2) { if (i < path_points.size()) { control_points.push_back(path_points[i]); } } // 排序并去重 sort(control_points.begin(), control_points.end(), [](const Point& a, const Point& b) { if (a.x != b.x) return a.x < b.x; return a.y < b.y; }); auto last = unique(control_points.begin(), control_points.end(), [](const Point& a, const Point& b) { return abs(a.x - b.x) < 0.1 && abs(a.y - b.y) < 0.1; }); control_points.erase(last, control_points.end()); // 确保控制点间距足够 for (int i = 1; i < control_points.size() - 1; i++) { double dist1 = (control_points[i] - control_points[i-1]).norm(); double dist2 = (control_points[i+1] - control_points[i]).norm(); // 如果间距小于转弯半径，调整位置 if (dist1 < min_radius || dist2 < min_radius) { Point dir = (control_points[i+1] - control_points[i-1]).normalized(); control_points[i] = control_points[i-1] + dir * min_radius * 1.5; } } return control_points; } }; // 贝塞尔曲线类 class BezierCurve { private: vector<Point> controlPoints; // 计算二项式系数 double binomialCoefficient(int n, int k) const { if (k < 0 || k > n) return 0; if (k == 0 || k == n) return 1; double result = 1; for (int i = 1; i <= k; i++) { result = result * (n - i + 1) / i; } return result; } // 计算伯恩斯坦基函数 double bernstein(int n, int i, double t) const { return binomialCoefficient(n, i) * pow(t, i) * pow(1 - t, n - i); } public: BezierCurve(const vector<Point>& points) : controlPoints(points) { if (points.size() < 2) { throw invalid_argument("At least 2 control points required"); } } // 计算曲线上的点 Point evaluate(double t) const { if (t < 0 || t > 1) { t = max(0.0, min(1.0, t)); } Point result(0, 0); int n = controlPoints.size() - 1; for (int i = 0; i <= n; i++) { double basis = bernstein(n, i, t); result = result + controlPoints[i] * basis; } return result; } // 计算一阶导数（速度） Point derivative(double t) const { if (t < 0 || t > 1) { t = max(0.0, min(1.0, t)); } Point result(0, 0); int n = controlPoints.size() - 1; for (int i = 0; i < n; i++) { double basis = bernstein(n - 1, i, t); Point diff = controlPoints[i + 1] - controlPoints[i]; result = result + diff * (n * basis); } return result; } // 计算二阶导数（加速度） Point secondDerivative(double t) const { if (t < 0 || t > 1) { t = max(0.0, min(1.0, t)); } Point result(0, 0); int n = controlPoints.size() - 1; if (n < 2) { return result; } for (int i = 0; i < n - 1; i++) { double basis = bernstein(n - 2, i, t); Point diff = (controlPoints[i + 2] - controlPoints[i + 1]) - (controlPoints[i + 1] - controlPoints[i]); result = result + diff * (n * (n - 1) * basis); } return result; } // 计算曲率 double curvature(double t) const { Point vel = derivative(t); Point acc = secondDerivative(t); double speed = vel.norm(); if (speed < 1e-10) { return numeric_limits<double>::infinity(); } double crossProd = fabs(vel.cross(acc)); return crossProd / pow(speed, 3); } // 计算曲率半径 double curvatureRadius(double t) const { double k = curvature(t); if (k < 1e-10 || k > 1e10) { return numeric_limits<double>::infinity(); } return 1.0 / k; } // 检查曲率约束 bool checkCurvatureConstraint(double minRadius, int samples = 200) const { for (int i = 0; i <= samples; i++) { double t = static_cast<double>(i) / samples; double radius = curvatureRadius(t); if (radius < minRadius && !isinf(radius)) { cerr << "Curvature violation at t=" << t << ": radius=" << radius << "m < minRadius=" << minRadius << "m" << endl; return false; } } return true; } // 获取曲线上的点集 vector<Point> getCurvePoints(int samples = 200) const { vector<Point> points; points.reserve(samples + 1); for (int i = 0; i <= samples; i++) { double t = static_cast<double>(i) / samples; points.push_back(evaluate(t)); } return points; } // 获取最小曲率半径 double getMinCurvatureRadius(int samples = 500) const { double minRadius = numeric_limits<double>::infinity(); for (int i = 0; i <= samples; i++) { double t = static_cast<double>(i) / samples; double radius = curvatureRadius(t); if (!isinf(radius) { if (radius < minRadius) { minRadius = radius; // 调试信息 // cerr << "New min radius: " << minRadius << " at t=" << t << endl; } } } return minRadius; } }; // 导出点集到CSV文件 void exportToCSV(const string& filename, const vector<Point>& points) { ofstream file(filename); if (!file) { cerr << "Error opening file: " << filename << endl; return; } file << "x,y" << endl; file << fixed << setprecision(6); for (const auto& p : points) { file << p.x << "," << p.y << endl; } cout << "Exported " << points.size() << " points to " << filename << endl; } // 可视化路径 void visualizePath() { ofstream script("visualize.py"); if (!script) { cerr << "Error creating visualization script" << endl; return; } script << R"( import numpy as np import matplotlib.pyplot as plt from matplotlib.patches import Circle # 加载数据 control = np.genfromtxt('control_points.csv', delimiter=',', skip_header=1) original = np.genfromtxt('original_curve.csv', delimiter=',', skip_header=1) geometric = np.genfromtxt('geometric_path.csv', delimiter=',', skip_header=1) constrained_controls = np.genfromtxt('constrained_control_points.csv', delimiter=',', skip_header=1) constrained = np.genfromtxt('constrained_curve.csv', delimiter=',', skip_header=1) # 可视化 plt.figure(figsize=(12, 10)) plt.plot(control[:,0], control[:,1], 'ro-', markersize=4, label='Original Control Points') plt.plot(original[:,0], original[:,1], 'b-', linewidth=1.5, alpha=0.7, label='Original Curve') plt.plot(geometric[:,0], geometric[:,1], 'm--', linewidth=2, alpha=0.5, label='Geometric Path') plt.plot(constrained_controls[:,0], constrained_controls[:,1], 'go-', markersize=5, label='Constrained Control Points') plt.plot(constrained[:,0], constrained[:,1], 'g-', linewidth=2.5, label='Constrained Curve') # 添加标签和标题 plt.legend(loc='upper left') plt.grid(True) plt.axis('equal') plt.title('Path Planning with Curvature Constraint (Min Radius: 10m)') plt.xlabel('X') plt.ylabel('Y') # 显示曲率约束区域 plt.text(-3, 16, "Min Turning Radius: 10m", fontsize=12, bbox=dict(facecolor='white', alpha=0.8)) # 绘制转弯半径圆 circle1 = Circle((-2+15, 4), 10, color='orange', fill=False, linestyle='--', label='Turning Radius (15m)') circle2 = Circle((4, 11-15), 10, color='purple', fill=False, linestyle='--') plt.gca().add_patch(circle1) plt.gca().add_patch(circle2) # 添加圆弧中心标记 plt.plot(-2+15, 4, 'yo', markersize=8, label='Turn Center 1') plt.plot(4, 11-15, 'co', markersize=8, label='Turn Center 2') # 保存并显示 plt.savefig('path_comparison.png', dpi=300) plt.show() )"; cout << "Visualization script saved as visualize.py" << endl; cout << "Run 'python visualize.py' to generate the plot" << endl; } int main() { // 测试用例控制点 vector<Point> controlPoints = { {-2, 0}, {-2, 0.5}, {-2, 1}, {-2, 1.5}, {-2, 2}, {-2, 2.5}, {-2, 3}, {-2, 3.5}, {-2, 4}, {4, 11}, {4, 11.5}, {4, 12}, {4, 12.5}, {4, 13}, {4, 13.5}, {4, 14}, {4, 14.5}, {4, 15} }; try { // 1. 创建原始贝塞尔曲线 BezierCurve originalCurve(controlPoints); // 检查原始曲线的曲率约束 bool originalSatisfies = originalCurve.checkCurvatureConstraint(MIN_RADIUS); double originalMinRadius = originalCurve.getMinCurvatureRadius(); cout << "Original curve min curvature radius: " << originalMinRadius << " m" << endl; cout << "Original curve satisfies curvature constraint: " << (originalSatisfies ? "YES" : "NO") << endl; // 导出原始曲线和控制点 exportToCSV("control_points.csv", controlPoints); vector<Point> originalCurvePoints = originalCurve.getCurvePoints(200); exportToCSV("original_curve.csv", originalCurvePoints); // 2. 创建几何路径和满足约束的贝塞尔曲线 PathPlanner planner(MIN_RADIUS); // 生成几何路径（直线+圆弧） vector<Point> geometricPath = planner.generateGeometricPath(controlPoints[0], controlPoints.back()); exportToCSV("geometric_path.csv", geometricPath); // 从几何路径生成控制点（增加控制点数量） vector<Point> constrainedControlPoints = planner.generateBezierControlPoints(geometricPath); exportToCSV("constrained_control_points.csv", constrainedControlPoints); // 创建约束曲线 BezierCurve constrainedCurve(constrainedControlPoints); // 检查优化后的曲线 bool constrainedSatisfies = constrainedCurve.checkCurvatureConstraint(MIN_RADIUS); double constrainedMinRadius = constrainedCurve.getMinCurvatureRadius(); cout << "\nConstrained curve min curvature radius: " << constrainedMinRadius << " m" << endl; cout << "Constrained curve satisfies curvature constraint: " << (constrainedSatisfies ? 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