Question

当他们无事可做时，我的车辆将随机移动并寻找新的工作，但有时候，他们会在碰撞以下异常之前提出：

Exception in thread "Thread-0" com.google.common.base.VerifyException:  [(14.11111111111111,0.0), (16.0,0.0), -0.36111111111111116]
    at com.google.common.base.Verify.verify(Verify.java:462)
    at com.github.rinde.rinsim.core.model.road.CollisionGraphRoadModelImpl.computeTravelableDistance(CollisionGraphRoadModelImpl.java:138)
    at com.github.rinde.rinsim.core.model.road.GraphRoadModelImpl.doFollowPath(GraphRoadModelImpl.java:178)
    at com.github.rinde.rinsim.core.model.road.CollisionGraphRoadModelImpl.doFollowPath(CollisionGraphRoadModelImpl.java:82)
    at com.github.rinde.rinsim.core.model.road.AbstractRoadModel.moveTo(AbstractRoadModel.java:133)
    at com.github.rinde.rinsim.core.model.road.AbstractRoadModel.moveTo(AbstractRoadModel.java:102)
    at project.agents.AgvAgent.movementTick(AgvAgent.java:281)
    at project.agents.AgvAgent.tickImpl(AgvAgent.java:213)
    at com.github.rinde.rinsim.core.model.pdp.Vehicle.tick(Vehicle.java:55)
    at com.github.rinde.rinsim.core.model.time.TimeModel.tickImpl(TimeModel.java:139)
    at com.github.rinde.rinsim.core.model.time.SimulatedTimeModel.doStart(SimulatedTimeModel.java:32)
    at com.github.rinde.rinsim.core.model.time.TimeModel.start(TimeModel.java:94)
    at com.github.rinde.rinsim.ui.SimulationViewer$5.run(SimulationViewer.java:401)

以下是移动到目的地的代码（tickImpl方法的一部分）以及用于选择新目的地和路径的代码：

CollisionGraphRoadModelImpl model = (CollisionGraphRoadModelImpl) getRoadModel();

if (!randomDestination.isPresent()) {
    nextRandomDestination(model);
}

getRoadModel().moveTo(this, randomDestination.get(), time);

if (model.getPosition(this).equals(randomDestination.get())) {
    nextRandomDestination(model);
}

void nextRandomDestination(CollisionGraphRoadModelImpl model) {
    randomDestination = Optional.of(model.getRandomPosition(rng));

    Point end = randomDestination.get();
    Point start = model.getPosition(this);
    if (model.getConnection(this).isPresent()) {
          start = model.getConnection(this).get().to();
    }

    randomPath = new LinkedList<>(model.getShortestPathTo(start, end));
  }

我尝试移动到关键点以及跟随RoadModel.followPath()的路径。我还复制了AgvAgent和AgvExample类中的一些代码，但即使它适用于它们，它在我的情况下也不起作用。我确实在GraphRoadModelImpl.doFollowPath()中找到了一些关于一些错误的评论。我想知道是否有任何解决方法？或者是否有一些我不知道的明显事物？

Answer 1

事实证明，RinSim中存在与导致此行为的舍入错误相关的错误。自RinSim v4.4.6起修复此错误。

moveTo（）方法中的VerifyException

1 个答案: