1

当他们无事可做并寻找新工作时，我的车辆会随机移动，但有时，在它们碰撞之前会引发以下异常：

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)

下面是移动到目的地（tickImpl 方法的一部分）以及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));
  }

我尝试移动到这一点并使用RoadModel.followPath(). AgvAgent我还从和类中复制了一些代码AgvExample，但即使它适用于它们，它也不适用于我的情况。我确实在GraphRoadModelImpl.doFollowPath()一些错误中找到了一些评论。我想知道是否有任何解决方法？或者我有什么明显的遗漏吗？

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1 回答 1

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

于 2018-06-11T04:51:20.997 回答