package com.zy.acs.manager.core.service.astart.domain;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.io.Serializable;
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import java.util.*;
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import java.util.stream.Collectors;
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/**
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* A*寻路算法Node节点
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*/
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@Slf4j
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@Data
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public class AStarNavigateNode implements Comparable<AStarNavigateNode>, Cloneable, Serializable {
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private static final long serialVersionUID = 1L;
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private int x; //坐标x
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private int y; //坐标y
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private int turnCount; //转弯次数
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private int G; //已经花费的步数
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private int H; //将要花费的步数
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private int F; //综合花费的步数
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private AStarNavigateNode parent; //父节点
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private Integer lastDistance; // 距离上个节点距离
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private Integer weight; // G 权重
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// private boolean turningPoint; //是否为拐点
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// private Integer moveDistance; // 总行走距离
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// private String direction; //行走方向
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private String codeData;
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public AStarNavigateNode(int x, int y) {
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this.x = x;
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this.y = y;
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this.turnCount = 0;
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}
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public AStarNavigateNode(int x, int y, String codeData) {
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this.x = x;
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this.y = y;
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this.turnCount = 0;
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this.codeData = codeData;
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}
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//通过结点的坐标和目标结点的坐标可以计算出F， G， H三个属性
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//需要传入这个节点的上一个节点和最终的结点
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public void initNode(AStarNavigateNode father, AStarNavigateNode end) {
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this.parent = father;
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if (this.parent != null) {
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//走过的步数等于父节点走过的步数加一
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this.G = this.parent.G
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+ Optional.ofNullable(this.lastDistance).orElse(0)
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+ Optional.ofNullable(this.weight).orElse(0);
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} else { //父节点为空代表它是第一个结点
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this.G = 0;
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}
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//以下计算方案为算法原始方案，没有去拐点方案。已被Solution计算时自动覆盖。
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//计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
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this.H = Math.abs(this.x - end.x) + Math.abs(this.y - end.y);
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this.F = this.G + this.H;
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}
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@Override
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public int compareTo(AStarNavigateNode o) {
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return Integer.compare(this.F, o.F);
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}
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@Override
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public AStarNavigateNode clone() {
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try {
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return (AStarNavigateNode) super.clone();
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} catch (CloneNotSupportedException e) {
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log.error(this.getClass().getSimpleName(), e);
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}
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return null;
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}
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@Override
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public boolean equals(Object obj) {
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if (this == obj) return true;
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if (!(obj instanceof AStarNavigateNode)) return false;
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AStarNavigateNode that = (AStarNavigateNode) obj;
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return this.x == that.x
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&& this.y == that.y
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// && this.turnCount == that.turnCount // ** 转弯优化，严重影响性能
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;
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}
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@Override
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public int hashCode() {
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return Objects.hash(
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this.x
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, this.y
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// , this.turnCount // ** 转弯优化，严重影响性能
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);
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}
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private void print() {
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AStarNavigateNode finishNode = this.clone();
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ArrayList<AStarNavigateNode> navigateNodes = new ArrayList<>();
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while (finishNode != null) {
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navigateNodes.add(finishNode);
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System.out.println("node:" + finishNode.getCodeData() + ", g:" + finishNode.getG() + ", h:" + finishNode.getH() + ", f:" + finishNode.getF());
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finishNode = finishNode.getParent();
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}
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Collections.reverse(navigateNodes);
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List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());
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System.out.println(navigatePath.toString());
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}
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}
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