计划用CC2530做定位,网上找了一些求圆交点的程序, 修改成3个圆求交点的质心,感觉算法还行。 粗略写了一下程序,结果还行。

  现在只能手动输入3个圆的信息。 后面需要再优化。

  

全部未优化的程序:

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms; namespace WindowsFormsApplication1
{ /* static void Main(string[] args)
{
Circle[] circles = new Circle[2];
Point[] points = new Point[2];
Console.Write("请输入两圆x,y,半径(以逗号分开):");
char[] sep = new char[] { ' ', ',', ',' };
string[] tempstr;
while (true)
{
tempstr = Console.ReadLine().Split(sep, StringSplitOptions.RemoveEmptyEntries);
if (tempstr.Length != 6)
{
Console.Write("输入有误\n按任意键退出...");
Console.ReadKey();
Environment.Exit(0);
}
circles[0].X = double.Parse(tempstr[0]);
circles[0].Y = double.Parse(tempstr[1]);
circles[0].Radius = double.Parse(tempstr[2]);
circles[1].X = double.Parse(tempstr[3]);
circles[1].Y = double.Parse(tempstr[4]);
circles[1].Radius = double.Parse(tempstr[5]);
switch (insect(circles, points))
{
case -1:
Console.Write("两圆相同\n");
break;
case 0:
Console.Write("不相交\n");
break;
case 1:
Console.WriteLine(points[0]);
break;
case 2:
Console.WriteLine(string.Join(" ", points));
break;
}
}
}*/ public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
} private void Form1_Load(object sender, EventArgs e)
{ }
struct Point
{
public double X;
public double Y;
public override string ToString()
{
return string.Format("({0},{1})", X, Y);
}
} struct Circle
{
public Point Center;
public double X { get { return Center.X; } set { Center.X = value; } }
public double Y { get { return Center.Y; } set { Center.X = value; } }
public double Radius;
};
const double ZERO = 1e-;//误差,小于这个就当作0
static bool double_equals(double a, double b)
{
return Math.Abs(a - b) < ZERO;
} static double distance_sqr(Point a, Point b)
{
return (a.X - b.X) * (a.X - b.X) + (a.Y - b.Y) * (a.Y - b.Y);
} static double distance(Point a, Point b)
{
return Math.Sqrt(distance_sqr(a, b));
} int insect(Circle[] circles, Point[] points)
{
double d, a, b, c, p, q, r;
double[] cos_value = new double[], sin_value = new double[];
if (double_equals(circles[].Center.X, circles[].Center.X)
&& double_equals(circles[].Center.Y, circles[].Center.Y)
&& double_equals(circles[].Radius, circles[].Radius))
{
return -;
} d = distance(circles[].Center, circles[].Center);
if (d > circles[].Radius + circles[].Radius
|| d < Math.Abs(circles[].Radius - circles[].Radius))
{
return ;
} a = 2.0 * circles[].Radius * (circles[].Center.X - circles[].Center.X);
b = 2.0 * circles[].Radius * (circles[].Center.Y - circles[].Center.Y);
c = circles[].Radius * circles[].Radius - circles[].Radius * circles[].Radius
- distance_sqr(circles[].Center, circles[].Center);
p = a * a + b * b;
q = -2.0 * a * c;
if (double_equals(d, circles[].Radius + circles[].Radius)
|| double_equals(d, Math.Abs(circles[].Radius - circles[].Radius)))
{
cos_value[] = -q / p / 2.0;
sin_value[] = Math.Sqrt( - cos_value[] * cos_value[]); points[].X = circles[].Radius * cos_value[] + circles[].Center.X;
points[].Y = circles[].Radius * sin_value[] + circles[].Center.Y; if (!double_equals(distance_sqr(points[], circles[].Center),
circles[].Radius * circles[].Radius))
{
points[].Y = circles[].Center.Y - circles[].Radius * sin_value[];
}
return ;
} r = c * c - b * b;
cos_value[] = (Math.Sqrt(q * q - 4.0 * p * r) - q) / p / 2.0;
cos_value[] = (-Math.Sqrt(q * q - 4.0 * p * r) - q) / p / 2.0;
sin_value[] = Math.Sqrt( - cos_value[] * cos_value[]);
sin_value[] = Math.Sqrt( - cos_value[] * cos_value[]); points[].X = circles[].Radius * cos_value[] + circles[].Center.X;
points[].X = circles[].Radius * cos_value[] + circles[].Center.X;
points[].Y = circles[].Radius * sin_value[] + circles[].Center.Y;
points[].Y = circles[].Radius * sin_value[] + circles[].Center.Y; if (!double_equals(distance_sqr(points[], circles[].Center),
circles[].Radius * circles[].Radius))
{
points[].Y = circles[].Center.Y - circles[].Radius * sin_value[];
}
if (!double_equals(distance_sqr(points[], circles[].Center),
circles[].Radius * circles[].Radius))
{
points[].Y = circles[].Center.Y - circles[].Radius * sin_value[];
}
if (double_equals(points[].Y, points[].Y)
&& double_equals(points[].X, points[].X))
{
if (points[].Y > )
{
points[].Y = -points[].Y;
}
else
{
points[].Y = -points[].Y;
}
}
return ;
} void Draw_circle(Graphics grap, Circle circles)
{
// int iSeed = 10;
Random ro = new Random();
long tick = DateTime.Now.Ticks;
Random ran = new Random((int)(tick & 0xffffffffL) | (int)(tick >> )); int R = ran.Next();
int G = ran.Next();
int B = ran.Next();
B = (R + G > ) ? R + G - : B;//0 : 380 - R - G;
B = (B > ) ? : B; Pen pen = new Pen(Color.Red, );//画笔颜色
pen.Color = Color.FromArgb(R, G, B);
grap.DrawEllipse(pen, Convert.ToInt32(circles.Center.X - circles.Radius), Convert.ToInt32(circles.Center.Y - circles.Radius), Convert.ToInt32(* circles.Radius), Convert.ToInt32(* circles.Radius));//画椭圆的方法,x坐标、y坐标、宽、高,如果是100,则半径为50
} private void button1_Click(object sender, EventArgs e)
{
Graphics gra = this.pictureBox1.CreateGraphics();
gra.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
Circle[] circles = new Circle[];
Point[] points = new Point[]; circles[].Center.X = ; ;
circles[].Center.Y = ;
circles[].Radius =; circles[].Center.X = ;
circles[].Center.Y = ;
circles[].Radius =; circles[].Center.X = ; ;
circles[].Center.Y = ;
circles[].Radius = ; Circle[] copy = (Circle[])circles.Clone(); //copy
// Draw_circle(gra, circles[0]);
Draw_circle(gra, circles[]);
Draw_circle(gra, circles[]);
insect(circles, points);// 0 1
Point Pac; double points_AC_0 = distance(points[], circles[].Center);
double points_AC_1 = distance(points[], circles[].Center);
if (points_AC_0 < points_AC_1)
{
Pac.X = points[].X;
Pac.Y = points[].Y;
}
else
{
Pac.X = points[].X;
Pac.Y = points[].Y;
}
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , );
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , ); circles[].Center.X = circles[].Center.X; ;
circles[].Center.Y = circles[].Center.Y;
circles[].Radius = circles[].Radius;
// Draw_circle(gra, circles[0]);
Draw_circle(gra, circles[]);
Draw_circle(gra, circles[]);
Draw_circle(gra, circles[]);
insect(circles, points);// 0 2 Point Pbc; points_AC_0 = distance(points[], copy[].Center);
points_AC_1 = distance(points[], copy[].Center);
if (points_AC_0 < points_AC_1)
{
Pbc.X = points[].X;
Pbc.Y = points[].Y;
}
else
{
Pbc.X = points[].X;
Pbc.Y = points[].Y;
}
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , );
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , );
circles = (Circle[])copy.Clone(); //copy circles[].Center.X = circles[].Center.X; ;
circles[].Center.Y = circles[].Center.Y;
circles[].Radius = circles[].Radius;
insect(circles, points); // 1 3 Point Pbd; points_AC_0 = distance(points[], copy[].Center);
points_AC_1 = distance(points[], copy[].Center);
if (points_AC_0 < points_AC_1)
{
Pbd.X = points[].X;
Pbd.Y = points[].Y;
}
else
{
Pbd.X = points[].X;
Pbd.Y = points[].Y;
}
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , );
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , ); double P_1, P_2;
P_1 = (Pac.X + Pbc.X + Pbd.X) / 3.0;
P_2 = (Pac.Y + Pbc.Y + Pbd.Y) / 3.0;
gra.FillRectangle(new SolidBrush(Color.Blue), Convert.ToInt32(P_1), Convert.ToInt32(P_2), , ); gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , );
gra.FillRectangle(new SolidBrush(Color.Red), Convert.ToInt32(points[].X), Convert.ToInt32(points[].Y), , ); }
}
}

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