优化更新

jianghaiyue

2025-11-05 12f30a09bce1c61b2ae90129124cdc467a59b074

 algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java

@@ -158,7 +158,8 @@
        if (fastPath != null) {
            return fastPath;
        }
        return planSpaceTimePath(startCode, endCode, constraints, null, null);
        long defaultStartTime = System.currentTimeMillis();
        return planSpaceTimePath(startCode, endCode, constraints, null, null, defaultStartTime);
    }

    @Override
@@ -174,12 +175,14 @@
     * @param constraints           静态约束条件
     * @param spaceTimeOccupancyMap 时空占用表
     * @param physicalConfig        CTU物理配置
     * @param startTimeMs           起始时间（毫秒）
     * @return 规划的路径
     */
    public PlannedPath planSpaceTimePath(String startCode, String endCode,
                                         List<double[]> constraints,
                                         Map<String, String> spaceTimeOccupancyMap,
                                         CTUPhysicalConfig physicalConfig) {
                                         CTUPhysicalConfig physicalConfig,
                                         long startTimeMs) {
        // 验证输入
        if (!isValidPathPoint(startCode) || !isValidPathPoint(endCode)) {
            System.out.println("无效的路径点: " + startCode + " 或 " + endCode);
@@ -212,7 +215,7 @@
        // 时空A*算法实现
        PlannedPath result = spaceTimeAStarSearch(
                startCode, endCode, startCoord, endCoord,
                constraints, spaceTimeOccupancyMap, physicalConfig
                constraints, spaceTimeOccupancyMap, physicalConfig, startTimeMs
        );

        if (result != null) {
@@ -234,13 +237,15 @@
     * @param constraints    约束条件
     * @param occupancyMap   时空占用表
     * @param physicalConfig 物理配置
     * @param startTimeMs    起始时间（毫秒）
     * @return 规划的路径
     */
    private PlannedPath spaceTimeAStarSearch(String startCode, String endCode,
                                             int[] startCoord, int[] endCoord,
                                             List<double[]> constraints,
                                             Map<String, String> occupancyMap,
                                             CTUPhysicalConfig physicalConfig) {
                                             CTUPhysicalConfig physicalConfig,
                                             long startTimeMs) {

        // 使用优先队列实现开放列表
        PriorityQueue<SpaceTimeAStarNode> openSet = new PriorityQueue<>(
@@ -250,8 +255,7 @@
        Map<String, Double> gScores = new HashMap<>();
        Map<String, SpaceTimeAStarNode> cameFrom = new HashMap<>();

        // 起始时间
        long startTime = System.currentTimeMillis();
        long startTime = startTimeMs;

        // 初始化起始节点
        SpaceTimeAStarNode startNode = new SpaceTimeAStarNode(