导航API - Agilex Doc

最后修改人	LTJ
最后修改时间	2021-05-12 12:28:34
创建人	LTJ
创建时间	2021-04-01 16:04:27

该文档由 LTJ 创建于 2021-04-01 16:04:27 ， LTJ 在 2021-05-12 12:28:34 修改了该文档。

### 1.7.1. 生成手画路径

- POST请求　/gs-robot/cmd/generate_graph_path

- 数据除了名字外主要包含四部分:

- 第一部分是points,即点，每个点的数据有名字，栅格化坐标，~~和动作列表即到达此点时要执行的动作，每个动作有名字和成员，成员是嵌套类型即成员嵌套成员， 　成员的数据有名字，类型，和值，动作目前有Pause暂停, Rotate2d平面旋转, Rotate3d立体旋转, RotateTo2d旋转到角度, RotateTo3d立体旋转到角度, 　　　PlaySound播放音乐, StopSound停止播放, OperateDevice操作设备。~~不再支持动作
    - 第二部分是lines，即线，每条线包含名字，起点，终点，和曲率半径。
    - 第三部分是paths，即路径，每条路径包含名字，线段名字列表，点列表，此处点列表不仅只有名字，是全部点的数据，为了不同路径相同点可以执行不一样的动作。
    - 第四部分是pathGroups，即路径组，每个路径组包含名字和路径名字列表

- request:

```
    {
        "points":[
            {
                "actions":[],
                "gridPosition":{
                    "x":178,
                    "y":412
                },
                "name":"0"
            },
            {
                "actions":[],
                "gridPosition":{
                    "x":169,
                    "y":363
                },
                "name":"1"
            },
            {
                "actions":[],
                "gridPosition":{
                    "x":138,
                    "y":317
                },
                "name":"2"
            },
            {
                "actions":[],
                "gridPosition":{
                    "x":173,
                    "y":388
                },
                "name":"lpa"
            },
            {
                "actions":[
                    {
                        "fields":[
                            {
                                "fields":[
    
                                ],
                                "name":"rotation",
                                "type":"double",
                                "value":"35"
                            }
                        ],
                        "name":"RotateTo2d"
                    },
                    {
                        "fields":[
                            {
                                "fields":[
    
                                ],
                                "name":"millisecond",
                                "type":"uint64",
                                "value":"30"
                            }
                        ],
                        "name":"Pause"
                    }
                ],
                "gridPosition":{
                    "x":149.61618,
                    "y":334.2369
                },
                "name":"qwe"
            }
        ]，
        "lines":[
            {
                "begin":"0",
                "end":"lpa",
                "name":"0_lpa",
                "radius":0
            },
            {
                "begin":"lpa",
                "end":"1",
                "name":"lpa_1",
                "radius":0
            },
            {
                "begin":"1",
                "end":"qwe",
                "name":"1_qwe",
                "radius":0
            },
            {
                "begin":"qwe",
                "end":"2",
                "name":"qwe_2",
                "radius":0
            }
        ],
        "mapName":"test",
        "name":"jjs",
        "pathGroups":[
            {
                "name":"ksoos",
                "paths":[
                    {
                        "name":"jdkkd"
                    },
                    {
                        "name":"jdkd"
                    }
                ],
                "type":"normal"
            },
            {
                "name":"nskks",
                "paths":[
                    {
                        "name":"jdkkd"
                    },
                    {
                        "name":"jdkd"
                    },
                    {
                        "name":"jxjx"
                    }
                ],
                "type":"normal"
            },
            {
                "name":"nxksk",
                "paths":[
                    {
                        "name":"jdkd"
                    },
                    {
                        "name":"jxjx"
                    }
                ],
                "type":"normal"
            }
        ],
        "paths":[
            {
                "lines":[
                    {
                        "name":"0_lpa"
                    },
                    {
                        "name":"lpa_1"
                    }
                ],
                "name":"jdkd",
                "points":[
                    {
                        "actions":[],
                        "gridPosition":{
                            "x":178,
                            "y":292
                        },
                        "name":"0"
                    },
                    {
                        "actions":[],
                        "gridPosition":{
                            "x":169,
                            "y":341
                        },
                        "name":"1"
                    },
                    {
                        "actions":[
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"rotation",
                                        "type":"double",
                                        "value":"35"
                                    }
                                ],
                                "name":"RotateTo2d"
                            },
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"millisecond",
                                        "type":"uint64",
                                        "value":"30"
                                    }
                                ],
                                "name":"Pause"
                            }
                        ],
                        "gridPosition":{
                            "x":149.61618,
                            "y":369.7631
                        },
                        "name":"qwe"
                    },
                    {
                        "actions":[
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"rotation",
                                        "type":"double",
                                        "value":"35"
                                    }
                                ],
                                "name":"RotateTo2d"
                            },
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"millisecond",
                                        "type":"uint64",
                                        "value":"30"
                                    }
                                ],
                                "name":"Pause"
                            }
                        ],
                        "gridPosition":{
                            "x":149.61618,
                            "y":369.7631
                        },
                        "name":"qwe"
                    }
                ]
            },
            {
                "lines":[
                    {
                        "name":"0_lpa"
                    },
                    {
                        "name":"lpa_1"
                    },
                    {
                        "name":"1_qwe"
                    },
                    {
                        "name":"qwe_2"
                    }
                ],
                "name":"jdkkd",
                "points":[
                    {
                        "actions":[],
                        "gridPosition":{
                            "x":178,
                            "y":292
                        },
                        "name":"0"
                    },
                    {
                        "actions":[],
                        "gridPosition":{
                            "x":169,
                            "y":341
                        },
                        "name":"1"
                    },
                    {
                        "actions":[],
                        "gridPosition":{
                            "x":138,
                            "y":387
                        },
                        "name":"2"
                    },
                    {
                        "actions":[
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"rotation",
                                        "type":"double",
                                        "value":"35"
                                    }
                                ],
                                "name":"RotateTo2d"
                            },
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"millisecond",
                                        "type":"uint64",
                                        "value":"30"
                                    }
                                ],
                                "name":"Pause"
                            }
                        ],
                        "gridPosition":{
                            "x":149.61618,
                            "y":369.7631
                        },
                        "name":"qwe"
                    },
                    {
                        "actions":[
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"rotation",
                                        "type":"double",
                                        "value":"35"
                                    }
                                ],
                                "name":"RotateTo2d"
                            },
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"millisecond",
                                        "type":"uint64",
                                        "value":"30"
                                    }
                                ],
                                "name":"Pause"
                            }
                        ],
                        "gridPosition":{
                            "x":149.61618,
                            "y":369.7631
                        },
                        "name":"qwe"
                    },
                    {
                        "actions":[
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"rotation",
                                        "type":"double",
                                        "value":"35"
                                    }
                                ],
                                "name":"RotateTo2d"
                            },
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"millisecond",
                                        "type":"uint64",
                                        "value":"30"
                                    }
                                ],
                                "name":"Pause"
                            }
                        ],
                        "angle":-1,
                        "defaultAngle":false,
                        "gridPosition":{
                            "x":149.61618,
                            "y":369.7631
                        },
                        "name":"qwe"
                    }
                ]
            },
            {
                "lines":[
                    {
                        "name":"1_qwe"
                    },
                    {
                        "name":"qwe_2"
                    }
                ],
                "name":"jxjx",
                "points":[
                    {
                        "actions":[
    
                        ],
                        "angle":-1,
                        "defaultAngle":false,
                        "gridPosition":{
                            "x":169,
                            "y":341
                        },
                        "name":"1"
                    },
                    {
                        "actions":[
    
                        ],
                        "angle":-1,
                        "defaultAngle":false,
                        "gridPosition":{
                            "x":138,
                            "y":387
                        },
                        "name":"2"
                    },
                    {
                        "actions":[
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"rotation",
                                        "type":"double",
                                        "value":"35"
                                    }
                                ],
                                "isChecked":true,
                                "name":"RotateTo2d"
                            },
                            {
                                "fields":[
                                    {
                                        "fields":[],
                                        "name":"millisecond",
                                        "type":"uint64",
                                        "value":"30"
                                    }
                                ],
                                "isChecked":true,
                                "name":"Pause"
                            }
                        ],
                        "angle":-1,
                        "defaultAngle":false,
                        "gridPosition":{
                            "x":149.61618,
                            "y":369.7631
                        },
                        "name":"qwe"
                    }
                ]
            }
        ]
    }
    ```

- response:

```
    {
        "data":"",
        "errorCode":"",
        "msg":"successed",
        "successed":true
    }
    ```