本文整理汇总了C#中Coordinates.RotateM90方法的典型用法代码示例。如果您正苦于以下问题：C# Coordinates.RotateM90方法的具体用法？C# Coordinates.RotateM90怎么用？C# Coordinates.RotateM90使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Coordinates的用法示例。
在下文中一共展示了Coordinates.RotateM90方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: UpdateGridLaneBound
/// <summary>
/// Update grid lane bound
/// </summary>
/// <param name="leftBoundPoints">Lane left bound points</param>
/// <param name="rightBoundPoints">Lane right bound points</param>
private void UpdateGridLaneBound(IList<LinePath> leftBounds, IList<LinePath> rightBounds)
{
StartWatch(); // start stopwatch
Coordinates extPoint = new Coordinates();
List<GridCoordinates> gridExtendLocs;
foreach (LinePath leftBoundPoints in leftBounds) {
// check if there is at least 2 left bound points
if (leftBoundPoints.Count > 1) {
// find grid lane bound left points
FindPoints(leftBoundPoints, out gridLaneBoundLeft);
gridLaneBound.SetValues(gridLaneBoundLeft, maxCost);
// check if there are grid lane bound left points
if (gridLaneBoundLeft.Count != 0) {
// extend start of grid left lane bound to grid border
extPoint = leftBoundPoints[0] - leftBoundPoints[1];
extPoint = leftBoundPoints[0] + extPoint.RotateM90();
ExtendPoints(leftBoundPoints[0], extPoint, out gridExtendLocs);
gridLaneBound.SetValues(gridExtendLocs, maxCost);
// extend end of grid left lane bound to grid border
int lastIndex = leftBoundPoints.Count - 1;
extPoint = leftBoundPoints[lastIndex] - leftBoundPoints[lastIndex - 1];
extPoint = leftBoundPoints[lastIndex] + extPoint.Rotate90().Normalize();
ExtendPoints(leftBoundPoints[lastIndex], extPoint, out gridExtendLocs);
gridLaneBound.SetValues(gridExtendLocs, maxCost);
// floodfill lane bound area
List<Coordinates> partialLaneBoundPoints = new List<Coordinates>();
partialLaneBoundPoints.Add(leftBoundPoints[lastIndex]);
partialLaneBoundPoints.Add(leftBoundPoints[lastIndex - 1]);
partialLaneBoundPoints.Add(extPoint);
Polygon partialLaneBoundArea = new Polygon(partialLaneBoundPoints);
Coordinates partialLaneBoundAreaCenter = partialLaneBoundArea.Center;
GridCoordinates partialGridLaneBoundAreaCenter = new GridCoordinates(
(int)Math.Round(partialLaneBoundAreaCenter.X / gridStep) + gridMiddleX,
(int)Math.Round(partialLaneBoundAreaCenter.Y / gridStep) + gridMiddleY);
gridLaneBound.FloodFill(partialGridLaneBoundAreaCenter, maxCost, 0);
}
}
}
foreach (LinePath rightBoundPoints in rightBounds) {
// check if there is at least 2 right bound points
if (rightBoundPoints.Count > 1) {
// find grid lane bound right points
FindPoints(rightBoundPoints, out gridLaneBoundRight);
gridLaneBound.SetValues(gridLaneBoundRight, maxCost);
// check if there are grid lane bound right points
if (gridLaneBoundRight.Count != 0) {
// extend start of grid right lane bound to grid border
extPoint = rightBoundPoints[0] - rightBoundPoints[1];
extPoint = rightBoundPoints[0] + extPoint.Rotate90();
ExtendPoints(rightBoundPoints[0], extPoint, out gridExtendLocs);
gridLaneBound.SetValues(gridExtendLocs, maxCost);
// extend end of grid right lane bound to grid border
int lastIndex = rightBoundPoints.Count - 1;
extPoint = rightBoundPoints[lastIndex] - rightBoundPoints[lastIndex - 1];
extPoint = rightBoundPoints[lastIndex] + extPoint.RotateM90().Normalize();
ExtendPoints(rightBoundPoints[lastIndex], extPoint, out gridExtendLocs);
gridLaneBound.SetValues(gridExtendLocs, maxCost);
// floodfill lane bound area
List<Coordinates> partialLaneBoundPoints = new List<Coordinates>();
partialLaneBoundPoints.Add(rightBoundPoints[lastIndex]);
partialLaneBoundPoints.Add(rightBoundPoints[lastIndex - 1]);
partialLaneBoundPoints.Add(extPoint);
Polygon partialLaneBoundArea = new Polygon(partialLaneBoundPoints);
Coordinates partialLaneBoundAreaCenter = partialLaneBoundArea.Center;
GridCoordinates partialGridLaneBoundAreaCenter = new GridCoordinates(
(int)Math.Round(partialLaneBoundAreaCenter.X / gridStep) + gridMiddleX,
(int)Math.Round(partialLaneBoundAreaCenter.Y / gridStep) + gridMiddleY);
gridLaneBound.FloodFill(partialGridLaneBoundAreaCenter, maxCost, 0);
}
}
}
// generate grid lane bound using wavefront propagation
float sepDist = 1; // in m
float step = maxCost * gridStep / sepDist;
//gridLaneBound.WaveFront(maxCost, 0, -step);
// display time to process grid lane bound
gridLaneBoundTime = StopWatch("ObstacleManager - GridLaneBound - ");
// write grid data to file (for debugging)
if (writeToFileFlag == true) {
StartWatch();
gridLaneBound.WriteGridToFile("GridLaneBound.txt");
StopWatch("ObstacleManager - GridLaneBound File Write - ");
}
//.........这里部分代码省略.........
示例2: InflatePartition
/// <summary>
///
/// </summary>
/// <param name="anchor"></param>
/// <param name="vector"></param>
/// <param name="width"></param>
/// <returns></returns>
private static List<Coordinates> InflatePartition(Coordinates anchor, Coordinates vector, double width)
{
List<Coordinates> coordList = new List<Coordinates>();
Coordinates leftVec = vector.Rotate90().Normalize(width / 2.0);
Coordinates rightVec = vector.RotateM90().Normalize(width / 2.0);
coordList.Add(anchor + leftVec);
coordList.Add(anchor + rightVec);
coordList.Add(anchor + vector + leftVec);
coordList.Add(anchor + vector + rightVec);
return coordList;
}