自动规划路径实验

自动规划路径

#include <bits/stdc++.h>
 
using namespace std;
 
const int N = 110;
 
struct node {
    int x,y,fx,fy;
    int g,h,f;
    int setG(int ff) {
        int sum = abs(fx - x) + abs(fy - y);
        if(sum == 2) return ff + 14;
        else return ff + 10;
    }
    int setH(node ee) {
        return (abs(x - ee.x) + abs(y - ee.y)) * 10;
    }
};
 
vector <node> open,close;
 
node ss,ee;
int n;
char mp[N][N];
bool st[N][N],flag;
int dx[8] = {-1,-1,-1,0,0,1,1,1},dy[8] = {-1,0,1,-1,1,-1,0,1};
ifstream ifl;
 
void bfs () {
    ss.g = 0,ss.h = (abs(ss.x - ee.x) + abs(ss.y - ee.y)) * 10;
    ss.f = ss.g + ss.h;
    open.push_back(ss);
 
    while(1){
        // 找到 open 列表里 f 值最小的点计算其周围点的 f 值
        node tp;
        int F = 0x3f3f3f3f,idx = -1;
        for(int i = 0; i < open.size(); i++){
            if(!st[open[i].x][open[i].y] && F > open[i].f)
                F = open[i].f,idx = i;
        }
        if(idx == -1) return ;
        tp = open[idx];
        st[tp.x][tp.y] = 1; //标记掉
        close.push_back(tp);
 
        for(int i = 0; i < 8; i++) {// 处理八个方向
            int xx = tp.x + dx[i], yy = tp.y + dy[i];
            if(!st[xx][yy] && mp[xx][yy] != '#' && xx >= 1 && yy <= n && yy >= 1 && xx <= n){ // 如果没有搜索过
                node tp2;
                tp2.x = xx,tp2.y = yy,tp2.fx = tp.x,tp2.fy = tp.y; // 记录该点坐标以及父节点坐标
                tp2.g = tp2.setG(tp.g),tp2.h = tp2.setH(ee);
                tp2.f = tp2.g + tp2.h;
                open.push_back(tp2);
                if(tp2.x == ee.x && tp2.y == ee.y){
                    ee.fx = tp2.fx,ee.fy = tp2.fy;
                    flag = true;
                    return ;
                }
            }
        }
    }
}
 
int main() {
    ifl.open("test1.txt",ios::in);
    cin >> n;
    for(int i = 1; i <= n; i++)
        for(int j = 1; j <= n; j++) {
            cin >> mp[i][j];
            if(mp[i][j] == 's') ss.x = i,ss.y = j;
            if(mp[i][j] == 'e') ee.x = i,ee.y = j;
        }
 
    bfs();
    if(flag){
        int xx = ee.fx,yy = ee.fy,s = close.size();
        //cout << close.size() << endl;
        while(s--){
            for(int i = 0; i < close.size(); i++){
                // cout << close[i].x << "  " << xx << endl;
                // cout << close[i].y << "  " << yy << endl;
                if(close[i].x = xx && close[i].y == yy){
                    // cout << xx << " " << yy << endl;
                    mp[xx][yy] = '*';
                    xx = close[i].fx,yy = close[i].fy;
                }
            }
            if(xx == ss.x && yy == ss.y)
                break;
        }
        mp[ss.x][ss.y] = 's';
        cout << "搜索结果为：" << endl;
        for(int i = 0; i <= 2*n + 2; i++)
            cout << '-';
        cout << endl;
        for(int i = 1; i <= n; i++) {
            cout <<  "| ";
            for(int j = 1; j <= n; j++)
                cout << mp[i][j] << " ";
            cout << "|" << endl;
        }
        for(int i = 0; i <= 2*n + 2; i++)
            cout << '-';
        cout << endl;
    }
    else cout << "There is no way !" << endl;
    return 0;
}