astar算法c语言实,Astar寻路算法C++实现
#include "A_star.h"#include#include
using namespacestd;void A_star::Map::addCollision(Point coordinates)//添加墻
{
walls.push_back(coordinates);
}void A_star::Map::removeCollision(Point coordinates)//刪除墻
{
vector::iterator it =walls.begin();while(it !=walls.end())
{if (coordinates.x == (*it).x && coordinates.y == (*it).y)
{
walls.erase(it);
}
it++;
}
}void A_star::Map::clearCollisions()//清除墻
{
walls.clear();
}
A_star::Point A_star::Map::getDelta(Point source, Point target)
{return{ abs(source.x - target.x), abs(source.y -target.y) };
}int A_star::Map::manhattan(Point source, Point target)//曼哈頓距離
{//auto delta = std::move(getDelta(source, target));//以非常簡單的方式將左值引用轉換為右值引用，不懂為什么這么做
Point delta =getDelta(source, target);return static_cast(10 * (delta.x +delta.y));
}bool A_star::Map::Detect_collision(Point coordinates)//是否是墻
{if (coordinates.x >= 0 && coordinates.x <= size_.x &&coordinates.y>= 0 && coordinates.y <=size_.y)
{
vector::iterator it =walls.begin();while (it !=walls.end())
{if (coordinates.x == (*it).x && coordinates.y == (*it).y)
{return true;
}
it++;
}return false;
}else
return true;
}void A_star::Map::releaseNodes(vector nodes)//移除節點
{for (auto it = nodes.begin(); it !=nodes.end();) {delete *it;
it=nodes.erase(it);
}
}
A_star::Node* A_star::Map::findNodeOnList(vector nodes, Point coordinates)//判斷是否 在列表中
{for(auto node : nodes) {//Point s = node->coordinates_;
if (node->coordinates_.x == coordinates.x && node->coordinates_.y ==coordinates.y) {returnnode;
}
}returnnullptr;
}
vector<:point> A_star::Map::findPath(Point source, Point target)//尋路
{
vectorpath;if(Detect_collision(source) || Detect_collision(target))//判斷起點和終點是否是墻
{
cout<< "please input orgin and target again" <
}
Node*current =nullptr;
vector<:node>openSet, closedSet;
openSet.push_back(newNode(source));while (!openSet.empty()) {
current= *openSet.begin();for(auto node : openSet) {if (node->Get_score() <= current->Get_score()) {
current=node;
}
}if (current->coordinates_.x == target.x && current->coordinates_.y ==target.y) {break;
}
closedSet.push_back(current);
openSet.erase(std::find(openSet.begin(), openSet.end(), current));for (int i = 0; i < directions; ++i) {
Point newCoordinates((current->coordinates_.x + current->direction[i].x),(current->coordinates_.y + current->direction[i].y));if (Detect_collision(newCoordinates) ||findNodeOnList(closedSet, newCoordinates)) {//判斷墻和是否在關閉隊列里面
continue;
}int totalCost = current->G + ((i < 4) ? 10 : 14);
Node*successor =findNodeOnList(openSet, newCoordinates);if (successor == nullptr) {//不在開隊列里面
successor = newNode(newCoordinates, current);
successor->G =totalCost;
successor->H = manhattan(successor->coordinates_, target);
openSet.push_back(successor);
}else if (totalCost < successor->G) {//已經在開隊列里了
successor->parent_ =current;
successor->G =totalCost;
}
}
}while (current !=nullptr) {
path.push_back(current->coordinates_);
current= current->parent_;
}
releaseNodes(openSet);
releaseNodes(closedSet);returnpath;
}
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