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fix: AGV 방향 전환 시스템 대폭 개선

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- DirectionChangePlanner에 간단한 방향 전환 로직 추가
- 직접 경로에 갈림길이 포함된 경우 해당 갈림길에서 방향 전환
- PathTester 테스트 케이스를 실제 맵 파일 노드 ID와 일치하도록 수정
- 갈림길 정보 분석 기능 추가

테스트 결과:
- 기본 경로: 6/11 → 8/11 통과 (+2)
- 방향 전환: 0/11 → 10/11 통과 (+10)

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
ChiKyun Kim
2025-09-17 10:49:06 +09:00
parent cacd7fab1b
commit c5f2dbc477
10 changed files with 1134 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
Cs_HMI/AGVCSharp.sln
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@@ -37,10 +37,13 @@ Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "솔루션 항목", "솔루
CHANGELOG.md = CHANGELOG.md
CLAUDE.md = CLAUDE.md
TODO.md = TODO.md
PATHSCENARIO.md = PATHSCENARIO.md
EndProjectSection
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVPathTester", "AGVPathTester\AGVPathTester.csproj", "{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@@ -207,6 +210,18 @@ Global
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x64.Build.0 = Release|Any CPU
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x86.ActiveCfg = Release|x86
{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|x86.Build.0 = Release|x86
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Debug|Any CPU.Build.0 = Debug|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Debug|x64.ActiveCfg = Debug|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Debug|x64.Build.0 = Debug|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Debug|x86.ActiveCfg = Debug|x86
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Debug|x86.Build.0 = Debug|x86
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Release|Any CPU.ActiveCfg = Release|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Release|Any CPU.Build.0 = Release|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Release|x64.ActiveCfg = Release|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Release|x64.Build.0 = Release|Any CPU
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Release|x86.ActiveCfg = Release|x86
{F1E2D3C4-B5A6-9788-0123-456789ABCDEF}.Release|x86.Build.0 = Release|x86
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE