问题描述
怎么我的A星每次计算出来的路径 都和上次不同的。 起点和 终点都是一样的。
已解决 ...原来是STL的sort 排序出问题了。不能用类中重载 的 < or () 要在类外写个 函数 并加在sort 参数三中。
int AStarClass::serachPath(){// leftup // left // leftdown // up // down // rightup // right // rightdownbool findPaht = false;// 8 direction position int dir[8][2] = {{-1,-1},{-1,0},{-1,1},{0,-1},{0,1},{1,-1},{1,0},{1,1} }; // startPoint add openlist _OpenList.push_back(_StartPoint);unsigned long timer = clock(); while (!_OpenList.empty()) {auto CureentNode = *_OpenList.begin();_OpenList.erase(_OpenList.begin());_CloseList.push_back(CureentNode);if (CureentNode->x == _EndPoint->x && CureentNode->y == _EndPoint->y) { findPaht = true; // recursion get path getPath(CureentNode); break;}auto generateNode = this->generateChildNode(*CureentNode, dir);int i = 0;for (auto &itor:generateNode) { int x = itor.x; int y = itor.y; AStarNode* node = NULL; if (_map->getAStarMap(x,y) == 1 || FindVessel(_CloseList, x, y)){ } else if (_map->getAStarMap(x,y) != 1 && FindVessel(_OpenList, x, y) == false && x > -1 && y > -1){node = new AStarNode(x,y);_OpenList.push_back(node);node->setParent(CureentNode);int G = 0;G = getGValues(_StartPoint, node, i);int H = manhattan(node->x,node->y,_EndPoint->x,_EndPoint->y);int F = G + H;node->setg(G);node->seth(H);node->setf(F); } else if((node = FindVesselGet(_OpenList, x, y)) != NULL){int G = getGValues(CureentNode, node, i);if (G < node->getg()) { node->setParent(CureentNode); node->setg(G); node->setf(node->geth() + node->getg());} } i++;}std::sort(_OpenList.begin(), _OpenList.end()); }_Timer = (double)(clock() - timer) / CLOCKS_PER_SEC;if (!findPaht) {std::vector<AStarNode*>().swap(_OpenList);std::vector<AStarNode*>().swap(_CloseList); }return findPaht; } std::vector<AStarNode> AStarClass::generateChildNode(AStarNode &node,int dir[8][2]){ std::vector<AStarNode> list; for (int i = 0; i < 8; i++) {int x = dir[i][0];int y = dir[i][1];// synthetic positionx += node.x;y += node.y;if ( x < _map->getAStarMapLine() && y < _map->getAStarMapCol()) { list.push_back(AStarNode(x,y));} } return list;}int AStarClass::getGValues(AStarNode *node0,AStarNode *node1,int i){ int G = abs(node1->x - node0->x) + abs(node1->y - node0->y); if (i == 0 || i == 2 || i == 5 || i == 7) {G += 14; }else{G += 10; } return G;}void AStarClass::getPath(AStarNode *node){ while(node->getParent()==NULL){_ResultList.push_back(node);return; } getPath(node->getParent()); _ResultList.push_back(node);}unsigned int AStarClass::manhattan(int x,int y,int endx,int endy){ return std::abs( x - endx ) + std::abs ( y-endy ) * 10;}
问题解答
回答1：已解决 ...原来是STL的sort 排序出问题了。不能用类中重载 的 < or () 要在类外写个 函数 并加在sort 参数三中。
