private void doTruck(List <Order> truckOrders) { List <List <Location> > truckPaths = new List <List <Location> >(); List <Location> path; AStarSearch astar = new AStarSearch(groundGrid, Depot, new Location(truckOrders.First().x, truckOrders.First().y, 0)); path = astar.ReconstructPath(Depot, new Location(truckOrders.First().x, truckOrders.First().y, 0), astar.cameFrom); truckPaths.Add(path); for (int i = 0; i < truckOrders.Count - 1; i++) { astar = new AStarSearch(groundGrid, new Location(truckOrders[i].x, truckOrders[i].y, 0), new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0)); path = astar.ReconstructPath(new Location(truckOrders[i].x, truckOrders[i].y, 0), new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0), astar.cameFrom); truckPaths.Add(path); } astar = new AStarSearch(groundGrid, new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot); path = astar.ReconstructPath(new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot, astar.cameFrom); truckPaths.Add(path); truckStatusUpdate(truckPaths); }
public static List <Location> simpleRoute(SquareGrid grid, Location start, Location finish) { List <Location> path = new List <Location>(); AStarSearch astar = new AStarSearch(grid, start, finish); path = astar.ReconstructPath(start, finish, astar.cameFrom); return(path); }
private void doDrone(List <Order> droneOrders) { List <List <Location> > dronePaths = new List <List <Location> >(); foreach (var order in droneOrders) { List <Location> path = new List <Location>(); AStarSearch astar = new AStarSearch(grid, Depot, new Location(order.x, order.y, 0)); path = astar.ReconstructPath(Depot, new Location(order.x, order.y, 0), astar.cameFrom); var returnPath = path; returnPath.Reverse(); path.AddRange(returnPath); dronePaths.Add(path); } droneStatusUpdate(dronePaths); }
public static string[] DrawGrid(SquareGrid grid, AStarSearch astar, Location start, Location goal) { string[] output = new string[4]; // Печать массива cameFrom for (int z = 0; z < 4; z++) { for (var y = 0; y < 41; y++) { for (var x = 0; x < 41; x++) { Location id = new Location(x, y, z); Location ptr = id; if (!astar.cameFrom.TryGetValue(id, out ptr)) { ptr = id; } if (start.x == x && start.y == y && start.z == z) /*Console.Write("\u2191 ");*/ x { ++; output[z] += "S"; } if (goal.x == x && goal.y == y && goal.z == z) /*Console.Write("\u2191 ");*/ x { ++; output[z] += "F"; } if (grid.walls.Contains(id)) /*Console.Write("##");*/ output {