@ray-js/robot-map-sdk 0.0.3-beta-55 → 0.0.3-beta-57

package/dist/constant/methods.js

@@ -1 +1 @@
-const e=["areRoomsAdjacent","getForbiddenSweepZones","getForbiddenMopZones","getCleanZones","getVirtualWalls","getSpots","getWayPoints","getViewportCenterPoint","getMapCenterPoint","getWallPointsByViewportCenter","getForbiddenSweepZonePointsByViewportCenter","getForbiddenMopZonePointsByViewportCenter","getCleanZonePointsByViewportCenter","getSpotPointByViewportCenter","getEffectiveDividerPoints","getDividerEndPoints","isNearChargerOrRobot","isPointInAnyRoom","resetPanZoom","snapshot","snapshotByData"],o=["onMapFirstDrawed","onMapDrawed","onPathDrawed","onRoomPropertiesDrawed","onClickRoom","onClickRoomProperties","onRemoveForbiddenSweepZone","onRemoveForbiddenMopZone","onRemoveCleanZone","onRemoveVirtualWall","onUpdateForbiddenSweepZone","onUpdateForbiddenMopZone","onUpdateCleanZone","onUpdateVirtualWall","onUpdateSpot","onUpdateWayPoint","onUpdateDivider","onClickForbiddenSweepZone","onClickForbiddenMopZone","onClickCleanZone","onClickVirtualWall","onClickSpot","onClickWayPoint","onClickDetectedObject","onClickCustomElement","onClickMap"];export{e as MAP_API_METHODS,o as MAP_CALLBACK_METHODS};
+const e=["areRoomsAdjacent","getForbiddenSweepZones","getForbiddenMopZones","getCleanZones","getVirtualWalls","getSpots","getWayPoints","getViewportCenterPoint","getMapCenterPoint","getWallPointsByViewportCenter","getForbiddenSweepZonePointsByViewportCenter","getForbiddenMopZonePointsByViewportCenter","getCleanZonePointsByViewportCenter","getSpotPointByViewportCenter","getEffectiveDividerPoints","getDividerEndPoints","isNearChargerOrRobot","isPointInAnyRoom","isWallIntersectsAnyRoom","isZoneIntersectsAnyRoom","resetPanZoom","snapshot","snapshotByData"],o=["onMapFirstDrawed","onMapDrawed","onPathDrawed","onRoomPropertiesDrawed","onClickRoom","onClickRoomProperties","onRemoveForbiddenSweepZone","onRemoveForbiddenMopZone","onRemoveCleanZone","onRemoveVirtualWall","onUpdateForbiddenSweepZone","onUpdateForbiddenMopZone","onUpdateCleanZone","onUpdateVirtualWall","onUpdateSpot","onUpdateWayPoint","onUpdateDivider","onClickForbiddenSweepZone","onClickForbiddenMopZone","onClickCleanZone","onClickVirtualWall","onClickSpot","onClickWayPoint","onClickDetectedObject","onClickCustomElement","onClickMap"];export{e as MAP_API_METHODS,o as MAP_CALLBACK_METHODS};

package/dist/index.d.ts

@@ -1593,7 +1593,7 @@ declare type Managers = {
     roomsManager: RoomManager;
 };
 
-export declare const MAP_API_METHODS: readonly ["areRoomsAdjacent", "getForbiddenSweepZones", "getForbiddenMopZones", "getCleanZones", "getVirtualWalls", "getSpots", "getWayPoints", "getViewportCenterPoint", "getMapCenterPoint", "getWallPointsByViewportCenter", "getForbiddenSweepZonePointsByViewportCenter", "getForbiddenMopZonePointsByViewportCenter", "getCleanZonePointsByViewportCenter", "getSpotPointByViewportCenter", "getEffectiveDividerPoints", "getDividerEndPoints", "isNearChargerOrRobot", "isPointInAnyRoom", "resetPanZoom", "snapshot", "snapshotByData"];
+export declare const MAP_API_METHODS: readonly ["areRoomsAdjacent", "getForbiddenSweepZones", "getForbiddenMopZones", "getCleanZones", "getVirtualWalls", "getSpots", "getWayPoints", "getViewportCenterPoint", "getMapCenterPoint", "getWallPointsByViewportCenter", "getForbiddenSweepZonePointsByViewportCenter", "getForbiddenMopZonePointsByViewportCenter", "getCleanZonePointsByViewportCenter", "getSpotPointByViewportCenter", "getEffectiveDividerPoints", "getDividerEndPoints", "isNearChargerOrRobot", "isPointInAnyRoom", "isWallIntersectsAnyRoom", "isZoneIntersectsAnyRoom", "resetPanZoom", "snapshot", "snapshotByData"];
 
 export declare const MAP_CALLBACK_METHODS: readonly ["onMapFirstDrawed", "onMapDrawed", "onPathDrawed", "onRoomPropertiesDrawed", "onClickRoom", "onClickRoomProperties", "onRemoveForbiddenSweepZone", "onRemoveForbiddenMopZone", "onRemoveCleanZone", "onRemoveVirtualWall", "onUpdateForbiddenSweepZone", "onUpdateForbiddenMopZone", "onUpdateCleanZone", "onUpdateVirtualWall", "onUpdateSpot", "onUpdateWayPoint", "onUpdateDivider", "onClickForbiddenSweepZone", "onClickForbiddenMopZone", "onClickCleanZone", "onClickVirtualWall", "onClickSpot", "onClickWayPoint", "onClickDetectedObject", "onClickCustomElement", "onClickMap"];
 
@@ -1778,14 +1778,36 @@ export declare interface MapApi {
     /**
      * 判断一个点是否在任意房间内
      *
-     * 接受原点坐标系的点（相对于origin的坐标），遍历所有房间，
+     * 接受机器坐标系的点（相对于origin的坐标），遍历所有房间，
      * 判断该点是否在某个房间内。支持结构化地图和点阵地图两种协议。
-     * 方法内部会自动将原点坐标系转换为地图坐标系进行检测。
+     * 方法内部会自动将机器坐标系转换为地图坐标系进行检测。
      *
-     * @param point - 待检测的点坐标（原点坐标系，与Zone、VirtualWall等使用相同的坐标系）
+     * @param point - 待检测的点坐标（机器坐标系，与Zone、VirtualWall等使用相同的坐标系）
      * @returns 如果点在某个房间内，返回该房间的RoomData；否则返回null
      */
     isPointInAnyRoom(point: Point): RoomData | null;
+    /**
+     * 判断墙体（线段）是否与任意房间有交集
+     *
+     * 接受机器坐标系的墙体端点（相对于origin的坐标），遍历所有房间，
+     * 判断墙体是否与某个房间有交集。支持结构化地图和点阵地图两种协议。
+     * 方法内部会自动将机器坐标系转换为地图坐标系进行检测。
+     *
+     * @param points - 墙体的两个端点坐标（机器坐标系，与VirtualWall等使用相同的坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     */
+    isWallIntersectsAnyRoom(points: [Point, Point]): boolean;
+    /**
+     * 判断区域（矩形）是否与任意房间有交集
+     *
+     * 接受机器坐标系的区域顶点（相对于origin的坐标），遍历所有房间，
+     * 判断区域是否与某个房间有交集。支持结构化地图和点阵地图两种协议。
+     * 方法内部会自动将机器坐标系转换为地图坐标系进行检测。
+     *
+     * @param points - 区域的四个顶点坐标（机器坐标系，与Zone等使用相同的坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     */
+    isZoneIntersectsAnyRoom(points: [Point, Point, Point, Point]): boolean;
     /**
      * 地图截图
      *
@@ -2183,22 +2205,46 @@ declare class MapApplication extends Application implements MapApi {
     /**
      * 判断一个点是否在任意房间内
      *
-     * 接受原点坐标系的点（相对于origin的坐标），遍历所有房间，
+     * 接受机器坐标系的点（相对于origin的坐标），遍历所有房间，
      * 判断该点是否在某个房间内。支持结构化地图和点阵地图两种协议。
-     * 方法内部会自动将原点坐标系转换为地图坐标系进行检测。
+     * 方法内部会自动将机器坐标系转换为地图坐标系进行检测。
      *
-     * @param point - 待检测的点坐标（原点坐标系，与Zone、VirtualWall等使用相同的坐标系）
+     * @param point - 待检测的点坐标（机器坐标系，与Zone、VirtualWall等使用相同的坐标系）
      * @returns 如果点在某个房间内，返回该房间的RoomData；否则返回null
      *
      */
     isPointInAnyRoom(point: Point): RoomData | null;
+    /**
+     * 判断墙体（线段）是否与任意房间有交集
+     *
+     * 接受机器坐标系的墙体端点（相对于origin的坐标），遍历所有房间，
+     * 判断墙体是否与某个房间有交集。支持结构化地图和点阵地图两种协议。
+     * 方法内部会自动将机器坐标系转换为地图坐标系进行检测。
+     *
+     * @param points - 墙体的两个端点坐标（机器坐标系，与VirtualWall等使用相同的坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     *
+     */
+    isWallIntersectsAnyRoom(points: Point[]): boolean;
+    /**
+     * 判断区域（矩形）是否与任意房间有交集
+     *
+     * 接受机器坐标系的区域顶点（相对于origin的坐标），遍历所有房间，
+     * 判断区域是否与某个房间有交集。支持结构化地图和点阵地图两种协议。
+     * 方法内部会自动将机器坐标系转换为地图坐标系进行检测。
+     *
+     * @param points - 区域的四个顶点坐标（机器坐标系，与Zone等使用相同的坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     *
+     */
+    isZoneIntersectsAnyRoom(points: Point[]): boolean;
     /**
      * 判断点、墙体或区域是否距离充电桩或机器人位置过近
      *
      * 根据给定的坐标集合（点1个、墙体2个点或区域4个点）和判定阈值，
      * 计算其与充电桩和/或机器人位置的最小距离，判断是否在阈值范围内。
      *
-     * @param points - 点（1个）、墙体（2个点）或区域（4个点）的坐标集合（原点坐标系）
+     * @param points - 点（1个）、墙体（2个点）或区域（4个点）的坐标集合（机器坐标系）
      * @param thresholdMeters - 判定阈值，单位为米
      * @param options - 配置选项
      * @param options.checkCharger - 是否检查与充电桩的距离，默认为 true
@@ -2210,11 +2256,6 @@ declare class MapApplication extends Application implements MapApi {
         checkCharger?: boolean;
         checkRobot?: boolean;
     }): boolean;
-    /* Excluded from this release type: calculateMinDistanceToGeometry */
-    /* Excluded from this release type: isPointInAnyRoomStructuredInternal */
-    /* Excluded from this release type: isPointInAnyRoomRasterInternal */
-    /* Excluded from this release type: areStructuredRoomsAdjacentInternal */
-    /* Excluded from this release type: areRasterRoomsAdjacentInternal */
     /**
      * 地图截图
      *
@@ -2526,7 +2567,7 @@ export declare interface MapCallbacks {
      * 地图点击回调
      *
      * 当启用地图点击捕获（enableMapClickCapture）后，用户点击地图时触发。
-     * 返回点击位置的地图坐标（基于原点坐标系）。
+     * 返回点击位置的地图坐标（基于机器坐标系）。
      *
      * @param point - 点击位置的地图坐标
      *
@@ -2650,6 +2691,34 @@ declare class MapManager {
      * 获取所有房间的几何信息
      */
     getAllRooms(): Room[];
+    /**
+     * 判断墙体（线段）是否与任意房间有交集
+     * @param points 墙体的两个端点坐标（机器坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     */
+    isWallIntersectsAnyRoom(points: Point[]): boolean;
+    /**
+     * 判断区域（矩形）是否与任意房间有交集
+     * @param points 区域的四个顶点坐标（机器坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     */
+    isZoneIntersectsAnyRoom(points: Point[]): boolean;
+    /**
+     * 判断指定的房间是否相邻（连通）
+     * @param roomIds 要检测的房间ID数组
+     * @returns 是否所有指定的房间都相邻（连通）
+     */
+    areRoomsAdjacent(roomIds: number[]): boolean;
+    /* Excluded from this release type: areStructuredRoomsAdjacentInternal */
+    /* Excluded from this release type: areRasterRoomsAdjacentInternal */
+    /**
+     * 判断一个点是否在任意房间内
+     * @param point 待检测的点坐标（机器坐标系）
+     * @returns 如果点在某个房间内，返回该房间的RoomData；否则返回null
+     */
+    isPointInAnyRoom(point: Point): RoomData | null;
+    /* Excluded from this release type: isPointInAnyRoomStructuredInternal */
+    /* Excluded from this release type: isPointInAnyRoomRasterInternal */
     /**
      * 清空地图组件
      */
@@ -3249,6 +3318,43 @@ declare class RoomFill extends Container {
      * 获取地图宽度（用于像素索引转换）
      */
     getMapWidth(): number;
+    /**
+     * 判断墙体（线段）是否与任意房间有交集
+     * @param points 墙体的两个端点坐标（机器坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     */
+    isWallIntersectsAnyRoom(points: Point[]): boolean;
+    /**
+     * 判断区域（矩形）是否与任意房间有交集
+     * @param points 区域的四个顶点坐标（机器坐标系）
+     * @returns 如果有交集返回 true，否则返回 false
+     */
+    isZoneIntersectsAnyRoom(points: Point[]): boolean;
+    /**
+     * 栅格地图：判断线段是否与任意房间有交集
+     */
+    private isWallIntersectsAnyRoomRaster;
+    /**
+     * 结构化地图：判断线段是否与任意房间有交集
+     */
+    private isWallIntersectsAnyRoomStructured;
+    /**
+     * 栅格地图：判断矩形是否与任意房间有交集
+     * 优化方案：先检查4条边，如果都失败再检查包含关系
+     */
+    private isZoneIntersectsAnyRoomRaster;
+    /**
+     * 结构化地图：判断矩形是否与任意房间有交集
+     */
+    private isZoneIntersectsAnyRoomStructured;
+    /**
+     * 获取线段覆盖的像素点索引
+     */
+    private getLinePixels;
+    /**
+     * 获取矩形覆盖的像素点索引
+     */
+    private getZonePixels;
     /**
      * 清除所有房间
      */