示例#1
0
        //使用迪杰斯特拉算法计算图中两点间的最短路径
        public static float Djstl(TrailerGraph g, int s, int e)
        {
            float shortLength = 0;

            int[] label = new int[g.numVertex]; //标记是否找过
            for (int i = 0; i < label.Length; i++)
            {
                label[i] = -1;
            }
            label[0] = 1;
            Console.Write(s.ToString() + " ");
            while (s != e)
            {
                int   start = s;
                float low   = 10000;
                int   k     = s;
                for (int j = 0; j < g.numVertex; j++)
                {
                    if (label[j] == -1 && low > g.adjMatrix[s, j].weight && g.adjMatrix[s, j].weight != 0)
                    {
                        low = g.adjMatrix[s, j].weight;
                        k   = j;
                    }
                }
                label[s] = 1;
                s        = k;
                int end = s;
                shortLength += g.adjMatrix[start, end].weight;
            }
            return(shortLength);
        }
示例#2
0
 // Use this for initialization
 void Awake()
 {
     //初始化各种模型的生成参数
     initCreatePara();
     //创建轨道
     CreateTrailer(GlobalVaribles.trailer_Para);
     //创建轨道对应的有向图
     GlobalVaribles.trailerGraph = TrailerGraph.CreateTrailer(
         GlobalVaribles.trailer_Para, GlobalVaribles.edges, GlobalVaribles.vertexes);
     //创建小车
     CreateCars();
 }
示例#3
0
    //生成一个轨道图的对象
    public static TrailerGraph CreateTrailer(GlobalVaribles.Trailer_Para trailer_Para, List <Edge> edges, List <Vertex> vertexes)
    {
        //生成轨道对应的图
        TrailerGraph trailerGraph = new TrailerGraph(vertexes.Count);

        trailerGraph.numVertex = vertexes.Count;
        //给点赋值(坐标)
        for (int i = 0; i < vertexes.Count; i++)
        {
            trailerGraph.vertexes[i] = new Vertex(vertexes[i].index, vertexes[i].data, vertexes[i].vertexPos);
        }
        //给边赋值(边的两点序号、边的种类(直还是曲)、边长
        for (int i = 0; i < vertexes.Count; i++)
        {
            trailerGraph.AddEdge(i, i, LineType.Straight, 0, new Vector3(0, 0, 0));
        }
        for (int i = 0; i < edges.Count; i++)
        {
            trailerGraph.AddEdge(edges[i]);
        }
        trailerGraph.curveRadius = (trailer_Para.inCurveRadius + trailer_Para.outCurveRadius) / 2;

        trailerGraph.distMap = new float[trailerGraph.numVertex, trailerGraph.numVertex];
        trailerGraph.path    = new int[trailerGraph.numVertex, trailerGraph.numVertex];
        trailerGraph.pathMap = new PathData[trailerGraph.numVertex, trailerGraph.numVertex];
        for (int i = 0; i < trailerGraph.numVertex; i++)//必须这样初始化
        {
            for (int j = 0; j < trailerGraph.numVertex; j++)
            {
                trailerGraph.pathMap[i, j] = new PathData();
            }
        }
        //根据图来初始化最短路径
        trailerGraph.floyd();
        trailerGraph.getAllPathList();
        return(trailerGraph);
    }
示例#4
0
        static void Main(string[] args)
        {
            //初始化轨道
            TrailerGraph trailer = new TrailerGraph().createTrailer();

            //初始化小车(按照车的前后顺序)
            float      carSpeed = 1f;
            List <Car> cars     = new List <Car>();
            Car        car1     = new Car(new Position(0, 15, 0), new EdgeData(), CarState.Empty, carSpeed);
            Car        car2     = new Car(new Position(-5, 10, 0), new EdgeData(), CarState.Empty, carSpeed);

            cars.Add(car1);
            cars.Add(car2);

            //添加任务队列
            List <Task> taskList = new List <Task>();
            Task        task1    = new Task(new Position(5, 5, 0), new EdgeData(2, 3, LineType.Straight, 10),
                                            new Position(-5, 5, 0), new EdgeData(6, 1, LineType.Straight, 10));
            Task task2 = new Task(new Position(5, -5, 0), new EdgeData(3, 4, LineType.Straight, 10),
                                  new Position(-5, -5, 0), new EdgeData(5, 6, LineType.Straight, 10));

            taskList.Add(task1);
            taskList.Add(task2);

            //得到所有的匹配组合matchList
            List <Dictionary <Car, Task> > matchList = new List <Dictionary <Car, Task> >();

            getMatchList(ref matchList, cars, taskList, 0, cars.Count);
            #region
            //计算不同排列下的任务实现总时间,每次只优化任务队列的前2个任务
            //如果小车已经在运送了
            //只实现一帧的计算
            //分为任务和小车
            //先得到当前的任务队列(先假设只处理前2个任务)
            //假设同时只有2辆车(车有位置等信息)
            //计算不同排列下的任务实现总时间
            //假设只能顺时针运动
            //难点:计算路径长度
            //还要考虑最短路径(虽然只有一个运动方向)、、、
            //得出最优方案
            //根据最优方案调整小车的运动
            #endregion
            //计算每个组合的总时间
            //并求出其中最短时间的组合
            float[] times   = new float[cars.Count];
            int     index   = 0;
            float   minTime = 10000000f;                    //最短时间
            Dictionary <Car, Task> minMatch = matchList[0]; //最短时间对应的匹配
            foreach (Dictionary <Car, Task> match in matchList)
            {
                times[index] = trailer.calcuMultiTaskTime(match);
                if (times[index] < minTime)
                {
                    minTime  = times[index];
                    minMatch = match;
                }
                index++;
            }
            //给各个小车分发任务
            DistributeTasks(minMatch);
            Console.ReadKey();
        }