C++AGV-路径规划与运行仿真程序

程序代码程序代码 include include include include include include include define MAX 100 define maxD 99999 class CFixedMap struct Coordinate int x int y int num 记录点的结构体 struct combp int x1 y1 int x2 y2 连通点坐标 struct Combname int num1 int num2 连通点名 public int mVexNum 顶点数 int mEdgNum 边数 double mMatrix MAX MAX 邻接矩阵 Combname comb MAX 连通点名 combp cp MAX 连通点坐标 Coordinate mVexs MAX 顶点集合 int getx int n1 int gety int n2 void Input 以文件方式输入地图信息 void ShowMap easyx 显示地图 int CFixedMap getx int n1 int x 0 for int i 0 i mVexNum i if n1 mVexs i num x mVexs i x return x int CFixedMap gety int n2 int y 0 for int i 0 i mVexNum i if n2 mVexs i num y mVexs i y return y void CFixedMap Input int panju char fname 10 map2 txt cout panju if panju 2 cout fname ifstream file fname char use1 100 char use2 100 char use3 100 char use4 100 use 数组用来储存提示信息 file use1 file mVexNum 端点个数 file use2 file mEdgNum 边数 file use3 for int i 0 i mVexs i num mVexs i x mVexs i y file use4 for i 0 i comb i num1 comb i num2 file close easyx 显示地图 void CFixedMap ShowMap initgraph 800 600 SHOWCONSOLE NOCLOSE 初始化绘图环境 setbkcolor WHITE 设置背景色 cleardevice 用背景色清空屏幕 setfillcolor BLACK 设置填充色 画顶点 for int i 0 i mVexNum i fillcircle mVexs i x mVexs i y 5 settextcolor BLACK char s MAX sprintf s d i 1 outtextxy mVexs i x 10 mVexs i y 20 s 给实际连通的顶点连线 setlinecolor RGB 0 0 0 setlinestyle PS SOLID 6 NULL 0 for i 0 i mEdgNum i cp i x1 getx comb i num1 cp i y1 gety comb i num1 cp i x2 getx comb i num2 cp i y2 gety comb i num2 line cp i x1 cp i y1 cp i x2 cp i y2 class CPathPlan public CFixedMap public int path MAX 存放最后一个点 double dist MAX 存放路径距离 int v0 起始点 int route 40 路径 int rnum 路径顶点数 Coordinate rpoints MAX 路径点集 void MaptoGraph void Dijstra void Putpath void CPathPlan MaptoGraph rnum 0 int a b x y for int i 0 i mVexNum i for int j 0 j mVexNum j if i j mMatrix i j 0 else mMatrix i j maxD for i 0 i mEdgNum i if comb i num1 a comb i num1 1 b comb i num2 1 x mVexs a x mVexs b x y mVexs a y mVexs b y mMatrix a b sqrt x x y y mMatrix b a sqrt x x y y void CPathPlan Dijstra cout v0 v0 int s MAX int v int i int j int w double min for v 0 v mVexNum v 初始化 S dist path s v 0 0 表示未求出最短路径 dist v mMatrix v0 v 开始时假定为最短路径 if dist v maxD 直达情况 else path v 1 无直达路径 dist v0 0 初始时 v0 属于 s 集 v0 到 v0 路径最短 s v0 1 for i 1 i mVexNum i 假设由一个中转点到达会近些 验证 再假设由两个中转点 到达会近些 验证 穷举 min maxD for w 0 w mVexNum w 找一个最近到的点 下标装入 v if s w 0 经点 w 中转 min dist w s v 1 将 v 并入 S 由 v0 到达 v 点最短距离为 min 假设由 v0 到 v 再由 v 到其余各点 更新当前最后一个点及距离 for j 0 j mVexNum j if s j 0 path j v 点的序号 void CPathPlan Putpath int opp 20 int z int i 0 cout z z int next ofstream file2 fops txt if dist z maxD 终点 next path z 第一个点 while next v0 opp i mVexs next num next path next 下一个点 opp i mVexs v0 num file2 路径长度为 dist z n 起点 v0 和最短路径 else if z v0 无路径 file2 mVexs z num mVexs v0 num no path n for int j 0 j i 1 j route j opp i j file2 路径为 for j 0 j i j file2 route j rnum i 1 file2 route i file2 close for i 0 i rnum i rpoints i x getx route i rpoints i y gety route i rpoints i num route i class CAGV int speed AGV 速度 int width AGV 宽度 int length AGV 长度 public CAGV int getl int getw int gets CAGV CAGV int panju cout panju speed 8 width 6 length 6 if panju 2 cout length cout width cout speed int CAGV getl return length int CAGV getw return width int CAGV gets return speed class CAGVShow public CPathPlan public CAGV public define k abs y2 y1 abs x1 x2 int a b c d int x1 x2 y1 y2 int i j int l w s void show void CAGVShow show l getl w getw s 11 gets for int o 0 ox1j x2 x1 j a x1 j l b y1 j k w c x1 j l d y1 j k w setfillcolor RGB 0 0 0 rectangle a b c d clearrectangle a 1 b k c d k setlinecolor RED line x1 j y1 j k x2 y2 setlinecolor GREEN line x1 y1 x1 j y1 j k if j 2 0 setfillcolor RGB 255 255 0 circle x2 y2 5 Sleep s if x2 x1j x1 x2 j a x1 j l b y1 j k w c x1 j l d y1 j k w setfillcolor RGB 0 0 0 rectangle a b c d clearrectangle a 1 b k c d k setlinecolor RED line x1 j y1 j k x2 y2 setlinecolor GREEN line x1 y1 x1 j y1 j k if j 2 0 setfillcolor RGB 255 255 0 circle x2 y2 5 Sleep s if x2y1 for j 1 jx1jx1 for j 1 j x2 x1 j setfillcolor RGB 0 0 0 rectangle x1 j l y1 w x1 j l y1 w clearrectangle x1 j l 1 y1 w x1 j l 1 y1 w setlinecolor RED line x1 j y1 x2 y2 setlinecolor GREEN line x1 y1 x1 j y1 if j 2 0 setfillcolor RGB 255 0 255 circle x2 y2 5 Sleep s if x2 x1 for j 1 jy1 for j 1 j y2 y1 j setfillcolor BLUE rectangle x1 l y1 j w x1 l y1 j w setfillcolor WHITE rectangle x1 y1 j w 1 x1 1 y1 j 1 w clearrectangle x1 l 1 y1 j 1 w x1 l 1 y1 j 1 w setlinecolor RED line x1 y1 j x2 y2 setlinecolor GREEN line x1 y1 x1 y1 j if j 2 0 setfillcolor RGB 255 255 0 circle x2 y2 5 Sleep s if y2 y1 for j 1 j y1 y2 j setfillcolor BLUE rectangle x1 l y1 j w x1 l y1 j w setfillcolor WHITE rectangle x1 y1 j w 1 x1 1 y1 j 1 w clearrectangle x1 l 1 y1 j 1 w x1 l 1 y1 j 1 w setlinecolor RED line x1 y1 j x2 y2 setlinecolor GREEN line x1 y1 x1 y1 j if j 2 0 setfillcolor RGB 255 255 0 circle x2 y2 5 Sleep s cout 成功显示 n getch 按任意键继续 closegraph 关闭图形界面 void main CAGVShow a int panju a Input cout panju if panju 1 for int i 0 i 20 i a ShowMap a MaptoGraph a Dijstra a Putpath a show panju 0 cout panju if panju 1 break else a ShowMap a MaptoGraph a Dijstra a Putpath a show 相关文件 map2 txt 点的个数 输入所有数据前请换行 16 连线条数 26 依次输入所有点的编号 x y 坐标 用空格隔开 1 50 50 2 250 50 3 550