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| | | */ |
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| | | public class NavigateUtils { |
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| | | |
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| | | public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType) { |
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| | | public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) { |
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| | | //通过开始编号和结束编号获取对应的xy轴坐标 |
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| | | int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//开始节点 |
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| | | int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//结束节点 |
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| | |
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| | | start.setFather(null); |
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| | | |
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| | | NavigateNode end = new NavigateNode(endArr[0], endArr[1]); |
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| | | NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList); |
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| | | NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList, shuttlePoints); |
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| | | //开始节点，不纳入禁用节点内计算 |
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| | | |
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| | | NavigateNode res_node = solution.astarSearch(start, end); |
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| | |
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| | | //获取从x点到下一点的行走距离 |
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| | | public static Integer getXToNextDistance(NavigateNode xNode) { |
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| | | NavigateMapData mapData = new NavigateMapData(); |
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| | | List<List<MapNode>> lists = mapData.getJsonData(NavigationMapType.NONE.id, null); |
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| | | List<List<MapNode>> lists = mapData.getJsonData(NavigationMapType.NONE.id, null, null); |
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| | | if (lists != null) { |
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| | | MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY()); |
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| | | if (mapNode != null) { |
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| | |
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| | | |
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| | | public static void main(String[] args) { |
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| | | //计算路径 |
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| | | List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id); |
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| | | List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null); |
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| | | System.out.println(calc); |
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| | | System.out.println("------------------------"); |
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| | | // List<NavigateNode> calc = calc("0501401", "0201801", "out"); |
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