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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO;
using System.Numerics;
using MathNet.Numerics.Interpolation;
using MathNet.Numerics.LinearAlgebra;
using MathNet.Numerics.Differentiation;
using OpenCvSharp;
using OpenCvSharp.Extensions;

namespace Path_Planning_Dwarfboard_1
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            InitializeComponent();

            // Instantiate the PrepareCoordinates
            PrepareCoordinates = new PreparingCoordinates();
            WheelDSpline();
        }

        private PreparingCoordinates PrepareCoordinates;

        public string filePath = "D:\\data.txt";

        private int Z;

        private int[] t_knot;

        struct ppType
        {
            public string form;
            public double[] breaks;
            public double[][] coefs;
            public int pieces;
            public int order;
            public int dim;
        };

        struct Coordinates
        {
            public double[] x;
            public double[] y;
        };

        //public double[] Dknot_xValues = { 439.5, 666.5, 893.5, 1120.5, 1288.5, 1453.5, 1603.5, 1732.5, 1840.5, 1927.5, 2032.5, 2170.5, 2332.5, 2503.5, 2680.5, 2851.5, 3088.5, 3526.5, 3928.5, 4207.5 };
        //public double[] Dknot_yValues = { 500, 500, 500, 500, 500, 506, 566, 647, 764, 884, 989, 1061, 1100, 1121, 1121, 1124, 1121, 1127, 1127, 1130 };

        //public List<double> Dknot_xValues;
        //public List<double> Dknot_yValues;

        public double[] Dknot_xValues;
        public double[] Dknot_yValues;

        public void WheelDSpline()
        {
            double W = 180;
            double L = 300;

            string impath = "TMK_plan.png";

            int Z = 5;
            //Mat img = Cv2.ImRead(impath);

            bool manual = false;

            PrepareCoordinates.save(filePath);

            (Dknot_xValues, Dknot_yValues) = PrepareCoordinates.load(filePath);

            Console.WriteLine("Dknot_xValues: ");

            printArray(Dknot_xValues);

            Console.WriteLine();
            Console.WriteLine("Dknot_yValues: ", Dknot_yValues);

            printArray(Dknot_yValues);

            Z = Dknot_xValues.Length;

            t_knot = new int[Z];

            for (int i = 0; i < Z; i++) { t_knot[i] = i; }

            printArray(t_knot);

        }

        public static void printArray<T>(T[] array)
        {
            if (array == null || array.Length == 0)
            {
                Console.WriteLine("Array is empty or null.");
                return;
            }

            Console.WriteLine();
            foreach (var item in array) { Console.Write(item + " "); }
            Console.WriteLine();
        }

    }
}

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.IO;

namespace Path_Planning_Dwarfboard_1
{
    public class PreparingCoordinates
    {
        public double[] Dknot_xValues = { 439.5, 666.5, 893.5, 1120.5, 1288.5, 1453.5, 1603.5, 1732.5, 1840.5, 1927.5, 2032.5, 2170.5, 2332.5, 2503.5, 2680.5, 2851.5, 3088.5, 3526.5, 3928.5, 4207.5 };
        public double[] Dknot_yValues = { 500, 500, 500, 500, 500, 506, 566, 647, 764, 884, 989, 1061, 1100, 1121, 1121, 1124, 1121, 1127, 1127, 1130 };

        //string filePath = "d_knot_20.txt";

        public void save(string filePath)
        {

            using (StreamWriter writer = new StreamWriter(filePath))
            {
                writer.WriteLine(string.Join(",", Dknot_xValues));
                writer.WriteLine(string.Join(",", Dknot_yValues));
            }

            Console.WriteLine("Data saved to: " + filePath);
        }

        /*public (List<double> xValues, List<double> yValues) load(string filePath)
        {
            List<double> xValues = new List<double>();
            List<double> yValues = new List<double>();

            using (StreamReader reader = new StreamReader(filePath))
            {
                string xLine = reader.ReadLine();
                string yLine = reader.ReadLine();

                xValues = xLine.Split(',').Select(double.Parse).ToList();
                yValues = yLine.Split(',').Select(double.Parse).ToList();
            }

            Console.WriteLine("X-axis values: ");

            foreach (var x in xValues) { Console.WriteLine(x); }

            Console.WriteLine("Y-axis values: ");

            foreach (var y in yValues) { Console.WriteLine(y); }

            return (xValues, yValues);
        }*/

        public (double[] xValues, double[] yValues) load(string filePath)
        {
            double[] xValues;
            double[] yValues;

            using (StreamReader reader = new StreamReader(filePath))
            {
                string xLine = reader.ReadLine();
                string yLine = reader.ReadLine();

                xValues = xLine.Split(',').Select(double.Parse).ToArray();
                yValues = yLine.Split(',').Select(double.Parse).ToArray();
            }

            return (xValues, yValues);
        }

    }
}

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