double -> float 节约空间

servo/src/main/java/com/galaxis/rcs/plan/path/AStarNodeState.java

@@ -6,8 +6,8 @@ package com.galaxis.rcs.plan.path;
 public record AStarNodeState(
     String nodeId,          // 当前节点ID
     int direction,          // 当前方向 (0,90,180,270)
-    double gCost,           // 实际代价
+    float gCost,           // 实际代价
-    double hCost,           // 启发式代价
+    float hCost,           // 启发式代价
     AStarNodeState parent   // 父节点
 ) implements Comparable<AStarNodeState> {
 
@@ -17,13 +17,13 @@ public record AStarNodeState(
     }
 
     // 总代价
-    public double fCost() {
+    public float fCost() {
         return gCost + hCost;
     }
 
     @Override
     public int compareTo(AStarNodeState other) {
-        return Double.compare(this.fCost(), other.fCost());
+        return Float.compare(this.fCost(), other.fCost());
     }
 }
 

servo/src/main/java/com/galaxis/rcs/plan/path/AStarPathPlanner.java

@@ -26,7 +26,7 @@ public class AStarPathPlanner {
         PriorityQueue<AStarNodeState> openSet = new PriorityQueue<>();
 
         // 状态管理
-        Map<String, Double> gScoreMap = new HashMap<>();
+        Map<String, Float> gScoreMap = new HashMap<>();
         Map<String, AStarNodeState> cameFrom = new HashMap<>();
 
         // 初始化起点
@@ -39,7 +39,7 @@ public class AStarPathPlanner {
         );
 
         openSet.add(start);
-        gScoreMap.put(start.stateKey(), 0.0);
+        gScoreMap.put(start.stateKey(), 0.0f);
 
         while (!openSet.isEmpty()) {
             AStarNodeState current = openSet.poll();
@@ -55,12 +55,12 @@ public class AStarPathPlanner {
                 PathSegment segment = graph.getPathSegment(current.nodeId(), neighbor.id());
                 if (segment == null) continue;
 
-                double moveCost = segment.distance();
+                float moveCost = segment.distance();
-                double tentativeGCost = current.gCost() + moveCost;
+                float tentativeGCost = current.gCost() + moveCost;
                 String neighborKey = neighbor.id() + ":" + current.direction();
 
                 // 发现更好路径
-                if (tentativeGCost < gScoreMap.getOrDefault(neighborKey, Double.MAX_VALUE)) {
+                if (tentativeGCost < gScoreMap.getOrDefault(neighborKey, Float.MAX_VALUE)) {
                     AStarNodeState neighborState = new AStarNodeState(
                         neighbor.id(),
                         current.direction(),
@@ -80,12 +80,12 @@ public class AStarPathPlanner {
             if (currentNode != null && currentNode.rotatable()) {
                 for (int rotation : new int[]{90, -90}) {
                     int newDirection = (current.direction() + rotation + 360) % 360;
-                    double rotateCost = 1.0; // 旋转代价
+                    float rotateCost = 1.0f; // 旋转代价
-                    double tentativeGCost = current.gCost() + rotateCost;
+                    float tentativeGCost = current.gCost() + rotateCost;
                     String rotatedKey = current.nodeId() + ":" + newDirection;
 
                     // 发现更好路径
-                    if (tentativeGCost < gScoreMap.getOrDefault(rotatedKey, Double.MAX_VALUE)) {
+                    if (tentativeGCost < gScoreMap.getOrDefault(rotatedKey, Float.MAX_VALUE)) {
                         AStarNodeState rotatedState = new AStarNodeState(
                             current.nodeId(),
                             newDirection,

servo/src/main/java/com/galaxis/rcs/plan/path/GraphInitializer.java

@@ -25,9 +25,9 @@ public class GraphInitializer {
                 continue;
             }
 
-            List<List<Double>> tf = (List<List<Double>>) nodeData.get("tf");
+            List<List<Float>> tf = (List<List<Float>>) nodeData.get("tf");
-            double x = tf.get(0).get(0);
+            float x = tf.get(0).get(0);
-            double z = tf.get(0).get(2);
+            float z = tf.get(0).get(2);
 
             // 检查是否为可旋转点
             Map<String, Object> dt = (Map<String, Object>) nodeData.get("dt");

servo/src/main/java/com/galaxis/rcs/plan/path/NavigationGraph.java

@@ -20,7 +20,7 @@ public class NavigationGraph {
 
     // 添加双向路径
     public void addBidirectionalPath(NavigationNode a, NavigationNode b) {
-        double distance = a.distanceTo(b);
+        float distance = a.distanceTo(b);
         pathSegments.put(a.id() + "->" + b.id(), new PathSegment(a, b, distance));
         pathSegments.put(b.id() + "->" + a.id(), new PathSegment(b, a, distance));
 
@@ -55,15 +55,15 @@ public class NavigationGraph {
 
         return nodes.values().parallelStream()
             .filter(NavigationNode::rotatable)
-            .min(Comparator.comparingDouble(start::distanceTo))
+            .min(Comparator.comparing(start::distanceTo))
             .orElse(null);
     }
 
     // 计算启发式代价 (使用欧几里得距离)
-    public double heuristicCost(String fromId, String toId) {
+    public float heuristicCost(String fromId, String toId) {
         NavigationNode from = nodes.get(fromId);
         NavigationNode to = nodes.get(toId);
-        if (from == null || to == null) return Double.MAX_VALUE;
+        if (from == null || to == null) return Float.MAX_VALUE;
         return from.distanceTo(to);
     }
 }

servo/src/main/java/com/galaxis/rcs/plan/path/NavigationNode.java

@@ -1,19 +1,21 @@
 package com.galaxis.rcs.plan.path;
 
+import org.clever.core.Conv;
+
 /**
  * 路标节点（地图中的顶点）
  */
 public record NavigationNode(
     String id,          // 节点ID (如 "20", "charger1")
-    double x,           // 向右增长
+    float x,           // 向右增长
-    double z,           // 向下增长 (y无效)
+    float z,           // 向下增长 (y无效)
     boolean rotatable   // 是否为可旋转位
 ) implements Comparable<NavigationNode> {
     // 计算到另一个节点的欧几里得距离
-    public double distanceTo(NavigationNode other) {
+    public float distanceTo(NavigationNode other) {
-        double dx = this.x - other.x;
+        float dx = this.x - other.x;
-        double dz = this.z - other.z;
+        float dz = this.z - other.z;
-        return Math.sqrt(dx * dx + dz * dz);
+        return Conv.asFloat(Math.sqrt(dx * dx + dz * dz));
     }
 
     @Override

servo/src/main/java/com/galaxis/rcs/plan/path/PathSegment.java

@@ -6,7 +6,7 @@ package com.galaxis.rcs.plan.path;
 public record PathSegment(
     NavigationNode start,   // 起点节点
     NavigationNode end,     // 终点节点
-    double distance         // 路径距离
+    float distance         // 路径距离
 ) {
     // 路径唯一标识
     public String key() {