From 0f2eaeeb387850acfede95c5c061b5392dae8688 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 六月 2023 16:58:25 +0800
Subject: [PATCH] 寻路算法和避障
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 8 ++++----
1 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 35b0f3a..90f39ed 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -13,7 +13,7 @@
*/
public class NavigateUtils {
- public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType) {
+ public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
//閫氳繃寮�濮嬬紪鍙峰拰缁撴潫缂栧彿鑾峰彇瀵瑰簲鐨剎y杞村潗鏍�
int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐�
int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//缁撴潫鑺傜偣
@@ -30,7 +30,7 @@
start.setFather(null);
NavigateNode end = new NavigateNode(endArr[0], endArr[1]);
- NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList);
+ NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList, shuttlePoints);
//寮�濮嬭妭鐐癸紝涓嶇撼鍏ョ鐢ㄨ妭鐐瑰唴璁＄畻
NavigateNode res_node = solution.astarSearch(start, end);
@@ -169,7 +169,7 @@
//鑾峰彇浠巟鐐瑰埌涓嬩竴鐐圭殑琛岃蛋璺濈
public static Integer getXToNextDistance(NavigateNode xNode) {
NavigateMapData mapData = new NavigateMapData();
- List<List<MapNode>> lists = mapData.getJsonData(NavigationMapType.NONE.id, null);
+ List<List<MapNode>> lists = mapData.getJsonData(NavigationMapType.NONE.id, null, null);
if (lists != null) {
MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
if (mapNode != null) {
@@ -230,7 +230,7 @@
public static void main(String[] args) {
//璁＄畻璺緞
- List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id);
+ List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
System.out.println(calc);
System.out.println("------------------------");
// List<NavigateNode> calc = calc("0501401", "0201801", "out");
--
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