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| #include
#include
#include
#include
#include
#include"AStar.h"
const int LEFT = 0;
const int LEFT_UP = 1;
const int UP = 2;
const int UP_RIGHT = 3;
const int RIGHT = 4;
const int RIGHT_DOWN = 5;
const int DOWN = 6;
const int LEFT_DOWN = 7;
using namespace std;
Node::Node() :x(0), y(0), g(0), h(0), f(0)
{
}
Node::Node(int x, int y) : x(x), y(y), g(0), h(0), f(0)
{
}
void Node::setX(int x)
{
this->x = x;
}
void Node::setY(int y)
{
this->y = y;
}
void Node::setG(int g)
{
this->g = g;
}
void Node::setH(Node &goal)
{
this->h = abs(goal.x - this->x) + abs(goal.y-this->y);//横坐标差的绝对值+纵坐标差的绝对值
}
void Node::setF()
{
this->f = this->g + this->h;
}
void Node::setFather(int x, int y)
{
this->father->x = x;
this->father->y = y;
}
void Node::setFather(Node &father)
{
this->father->x = father.x;
this->father->y = father.y;
this->father->g = father.g;
this->father->h = father.h;
this->father->f = father.f;
}
void Node::setFather(Node *father)
{
this->father->x = father->x;
this->father->y = father->y;
this->father->g = father->g;
this->father->h = father->h;
this->father->f = father->f;
}
int Node::getX()
{
return x;
}
int Node::getY()
{
return y;
}
int Node::getG()
{
return g;
}
int Node::getH()
{
return h;
}
int Node::getF()
{
return f;
}
Node* Node::getFather()
{
return father;
}
void Node::addBarrier(int x, int y)
{
Node node(x,y);
closed.push_back(node);
}
void Node::addBarrier(Node barrier)
{
closed.push_back(barrier);
}
Node Node::operator=(const Node& nodeOrigin)
{
this->x = nodeOrigin.x;
this->y = nodeOrigin.y;
this->g = nodeOrigin.g;
this->h = nodeOrigin.h;
this->f = nodeOrigin.f;
this->setFather(nodeOrigin.father);
return *this;
}
bool Node::operator==(const Node& node)
{
return this->x==node.x&&this->y==node.y;
}
Node Node::createSunNode(int direction, Node goal)
{
Node sun = *this;//C++在this对象指针前面加*表示对象。
//
switch (direction)
{
case LEFT:
sun.setX(sun.getX() - 1);
break;
case LEFT_UP:
sun.setX(sun.getX() - 1);
sun.setY(sun.getY() - 1);
break;
case UP:
sun.setY(sun.getY() - 1);
sun.setG(sun.getG()+STEP);
break;
case UP_RIGHT:
sun.setX(sun.getX() + 1);
sun.setY(sun.getY() - 1);
break;
case RIGHT:
sun.setX(sun.getX() + 1);
break;
case RIGHT_DOWN:
sun.setX(sun.getX() + 1);
sun.setY(sun.getY() + 1);
break;
case DOWN:
sun.setY(sun.getY() + 1);
break;
case LEFT_DOWN:
sun.setX(sun.getX() - 1);
sun.setY(sun.getY() + 1);
break;
default:
break;
}
if (direction%2==0)
{
//上下左右直走,STEP
sun.setG(sun.getG()+STEP);
}
else
{
//对角线,STEP_DIAGONAL
sun.setG(sun.getG()+STEP_DIAGONAL);
}
sun.setH(goal);
sun.setF();
//
return sun;
}
void Node::addToOpen(Node node)
{
if (isInClosed(node))
{
return;
}
//检查是否在open
bool isInOpen = false;
deque::iterator iter;//iter是Node*类型
for (iter = open.begin(); iter != open.end();iter++)
{
if (*iter==node)
{
isInOpen = true;
break;
}
}
if (isInOpen)
{
//是否G成本更低
if (node.getG()<(iter->getG()))
{
//是，改变在open表中的这个node节点的父节点
iter->setFather(node.getFather());
//重新根据F值排序
Node temp = *iter;
open.erase(iter);
//iter不能再用了，因为删除操作使iter失效了
addToOpenWithOpenNotHave(temp);
}
else
{
//否，do nothing
}
}
else
{
addToOpenWithOpenNotHave(node);
}
}
//已经确认要添加的node不在open表中
void Node::addToOpenWithOpenNotHave(Node node)
{
//不在open表中，加入open（open表按F值从大到小排列）
if (open.size()>0)
{
for (int i = open.size() - 1; i >= 0; i--)
{
if (open[i].getF() >= node.getF())
{
//这里可能有问题
open.insert(open.begin() + i, node);
break;
}
else
{
if (i == 0)
{
open.push_front(node);
}
}
}
}
else
{
open.push_back(node);
}
}
void Node::addToClosed(Node node)
{
closed.push_back(node);
}
bool Node::isInOpen(Node node)
{
bool isInOpen = false;
deque::iterator iter;//iter是Node*类型
for (iter = open.begin(); iter != open.end(); iter++)
{
if (*iter == node)
{
isInOpen = true;
break;
}
}
return isInOpen;
}
bool Node::isInClosed(Node node)
{
bool result = false;
for (int i = 0; i
{
if (closed[i] == node)
{
return true;
}
}
return result;
}
void Node::printNode()
{
cout <<"x = "<x<
<<"y ="<y<
<<"g = "<g<
<<"h = "<h<
<<"f = "<f<
} |
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