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<li class="navelem"><a class="el" href="dir_17297ffb27ce571941f5fb5008f01a1f.html">dl</a></li><li class="navelem"><a class="el" href="dir_f0dc580f54d1d7c03c105e5f92f5d3a8.html">misc</a></li> </ul>
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<div class="headertitle"><div class="title">dl_astar.h</div></div>
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<a href="dl__astar_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> </div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#pragma once</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> </div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="preprocessor">#include <array></span></div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="preprocessor">#include <vector></span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="preprocessor">#include <map></span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="preprocessor">#include <list></span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="preprocessor">#include <algorithm></span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#include <cassert></span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="preprocessor">#include "<a class="code" href="dl__log_8h.html">io/dl_log.h</a>"</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="preprocessor">#include "<a class="code" href="dl__string_8h.html">base/dl_string.h</a>"</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacedl.html">dl</a></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span>{</div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="namespacedl.html#af25b35c866c22da3e60020876cd4721b"> 29</a></span> <span class="keyword">constexpr</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="namespacedl.html#af25b35c866c22da3e60020876cd4721b">ASTAR_SHOW_LOG</a> = <span class="keyword">false</span>;</div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="keyword">template</span><<span class="keyword">typename</span> T, <span class="keyword">typename</span> COST></div>
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<div class="foldopen" id="foldopen00033" data-start="{" data-end="};">
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html"> 33</a></span><span class="keyword">class </span><a class="code hl_function" href="classdl_1_1_a_star.html#a8922ac9e611bdebb5d9cba8aa25ff13f">AStar</a></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span>{</div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> <span class="comment">// 点类型</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6"> 37</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> = <a class="code hl_enumvalue" href="namespacedl.html#a38a0162879cdbfbbe99ba16e7a170132ab9ece18c950afbfa6b0fdbfa4ff731d3">T</a>;</div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <span class="comment">// 代价类型（float、int等）</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4"> 39</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> = COST;</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3"> 40</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3">FuncCost</a> = std::function<<a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>&, <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>&)>;</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a6ea291cdb5c440152228c200b373930b"> 41</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classdl_1_1_a_star.html#a6ea291cdb5c440152228c200b373930b">FuncLink</a> = std::function<void(<a class="code hl_function" href="classdl_1_1_a_star.html#a8922ac9e611bdebb5d9cba8aa25ff13f">AStar</a>*, <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>&)>;</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="comment">//节点</span></div>
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<div class="foldopen" id="foldopen00044" data-start="{" data-end="};">
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html"> 44</a></span> <span class="keyword">class </span><a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a></div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> {</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html#a9d6df61067d70d20088c702caf175720"> 47</a></span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> <a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a9d6df61067d70d20088c702caf175720">_xy</a>;</div>
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||
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html#a610dfd933a28cba05579041ed1ada232"> 48</a></span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* <a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a610dfd933a28cba05579041ed1ada232">_parent</a>; <span class="comment">//父节点（为空代表起点）</span></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087"> 49</a></span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> <a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a>; <span class="comment">//前往这个节点 的代价值</span></div>
|
||
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f"> 50</a></span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> <a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">_total</a>; <span class="comment">//总代价 （cost + 估计代价）</span></div>
|
||
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html#ab64739250e449beb94600ccb5cf51fb4"> 51</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#ab64739250e449beb94600ccb5cf51fb4">_open</a>; <span class="comment">//是否在 Open表</span></div>
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||
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_node.html#a691ccf808c67ad802d06755afda2d46f"> 52</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a691ccf808c67ad802d06755afda2d46f">_closed</a>; <span class="comment">//是否在 Close表</span></div>
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||
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> };</div>
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||
</div>
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||
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
|
||
<div class="foldopen" id="foldopen00055" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a783ed45b8123c6cf56dab800b76fb3dc"> 55</a></span> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a783ed45b8123c6cf56dab800b76fb3dc">AStarNodeCompare</a>(<a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* n1, <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* n2)</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> {</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordflow">return</span> n1-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">_total</a> > n2-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">_total</a>;</div>
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||
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> }</div>
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</div>
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||
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="comment">//优先队列</span></div>
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<div class="foldopen" id="foldopen00061" data-start="{" data-end="};">
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||
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html"> 61</a></span> <span class="keyword">class </span><a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html">AStarPriorityQueue</a></div>
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||
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> {</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">public</span>:</div>
|
||
<div class="foldopen" id="foldopen00064" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#afbbbac1145a93bd43291caad0a0a0a83"> 64</a></span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* <a class="code hl_function" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#afbbbac1145a93bd43291caad0a0a0a83">Pop</a>()</div>
|
||
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> {</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* node = _heap.front();</div>
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||
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> std::pop_heap(_heap.begin(), _heap.end(), <a class="code hl_function" href="classdl_1_1_a_star.html#a783ed45b8123c6cf56dab800b76fb3dc">AStarNodeCompare</a>);</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> _heap.pop_back();</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordflow">return</span> node;</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> }</div>
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</div>
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<div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#ad943f68e1ccd3b22194e2e3a7b0aae65"> 71</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#ad943f68e1ccd3b22194e2e3a7b0aae65">Push</a>(<a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* node)</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> {</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> _heap.push_back(node);</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> std::push_heap(_heap.begin(), _heap.end(), <a class="code hl_function" href="classdl_1_1_a_star.html#a783ed45b8123c6cf56dab800b76fb3dc">AStarNodeCompare</a>);</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> }</div>
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</div>
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<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#ab0ff2f2879075728e2d3c3e14f52abd5"> 76</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#ab0ff2f2879075728e2d3c3e14f52abd5">UpdateNode</a>(<a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* node)</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> {</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> iter = _heap.begin(); iter != _heap.end(); ++iter)</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> {</div>
|
||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordflow">if</span> ((*iter)->_xy == node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a9d6df61067d70d20088c702caf175720">_xy</a>)</div>
|
||
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> {</div>
|
||
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> std::push_heap(_heap.begin(), iter + 1, <a class="code hl_function" href="classdl_1_1_a_star.html#a783ed45b8123c6cf56dab800b76fb3dc">AStarNodeCompare</a>);</div>
|
||
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keywordflow">return</span>;</div>
|
||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> }</div>
|
||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> }</div>
|
||
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> }</div>
|
||
</div>
|
||
<div class="foldopen" id="foldopen00087" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#a8c763f5ba3d03d74b24dbe96336832fb"> 87</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#a8c763f5ba3d03d74b24dbe96336832fb">IsEmpty</a>()</div>
|
||
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> {</div>
|
||
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keywordflow">return</span> _heap.empty();</div>
|
||
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> }</div>
|
||
</div>
|
||
<div class="foldopen" id="foldopen00091" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#a248891617b06aa51998c7b2f78da9061"> 91</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#a248891617b06aa51998c7b2f78da9061">Clear</a>()</div>
|
||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> {</div>
|
||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> _heap.clear();</div>
|
||
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">private</span>:</div>
|
||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> std::vector<AStarNode*> _heap;</div>
|
||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> };</div>
|
||
</div>
|
||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
|
||
<div class="foldopen" id="foldopen00099" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a541ab5b6e494ef516d62b108c28de034"> 99</a></span> <span class="keyword">inline</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> <a class="code hl_function" href="classdl_1_1_a_star.html#a541ab5b6e494ef516d62b108c28de034">AbsPoint</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& a, <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& b)</div>
|
||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> {</div>
|
||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> ret{</div>
|
||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> a.x < b.x ? (b.x - a.x) : (a.x - b.x),</div>
|
||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> a.y < b.y ? (b.y - a.y) : (a.y - b.y)</div>
|
||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> };</div>
|
||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">return</span> ret;</div>
|
||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span></div>
|
||
<div class="foldopen" id="foldopen00112" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a1a5e67b04c53edf6fab70a473525f33c"> 112</a></span> <span class="keyword">inline</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> <a class="code hl_function" href="classdl_1_1_a_star.html#a1a5e67b04c53edf6fab70a473525f33c">AStarGetH</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& p0, <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& p1)</div>
|
||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> {</div>
|
||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> ASTAR_K0 = 10;</div>
|
||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> ASTAR_K1 = 14;</div>
|
||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
|
||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> d = <a class="code hl_function" href="classdl_1_1_a_star.html#a541ab5b6e494ef516d62b108c28de034">AbsPoint</a>(p0, p1);</div>
|
||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordflow">return</span> ASTAR_K0 * (d.x + d.y) - (std::min)(d.x, d.y) * (2 * ASTAR_K0 - ASTAR_K1);</div>
|
||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
|
||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span></div>
|
||
<div class="foldopen" id="foldopen00130" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a8922ac9e611bdebb5d9cba8aa25ff13f"> 130</a></span> <a class="code hl_function" href="classdl_1_1_a_star.html#a8922ac9e611bdebb5d9cba8aa25ff13f">AStar</a>(</div>
|
||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& size,</div>
|
||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3">FuncCost</a> func_g,</div>
|
||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3">FuncCost</a> func_h = <span class="keyword">nullptr</span>,</div>
|
||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#a6ea291cdb5c440152228c200b373930b">FuncLink</a> func_link = <span class="keyword">nullptr</span>,</div>
|
||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">size_t</span> max_node = 10000) :</div>
|
||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> _funcG{ func_g },</div>
|
||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> _funcH{ func_h },</div>
|
||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> _funcLink{ func_link },</div>
|
||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> _maxNode{ max_node },</div>
|
||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> _bDiagonal{ true },</div>
|
||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> _size{}</div>
|
||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> {</div>
|
||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> _arrNodeBank = <span class="keyword">new</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>[_maxNode];</div>
|
||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> _masterNode.reserve(_maxNode);</div>
|
||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> assert(_funcG);</div>
|
||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordflow">if</span> (_funcH == <span class="keyword">nullptr</span>)</div>
|
||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> {</div>
|
||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> _funcH = std::bind(&<a class="code hl_function" href="classdl_1_1_a_star.html#a1a5e67b04c53edf6fab70a473525f33c">AStar::AStarGetH</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2);</div>
|
||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> }</div>
|
||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> </div>
|
||
<div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#af35a1aaa69793520a3b6f149a221f57d"> 152</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star.html#af35a1aaa69793520a3b6f149a221f57d">SetSize</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& size)</div>
|
||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> {</div>
|
||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> _size = size;</div>
|
||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span></div>
|
||
<div class="foldopen" id="foldopen00166" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#ae2ede3d24653a0eabe064d9b4804e246"> 166</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classdl_1_1_a_star.html#ae2ede3d24653a0eabe064d9b4804e246">Search</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& source, <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& target, <span class="keywordtype">bool</span> target_near,</div>
|
||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> std::list<AStarPoint>& list_path,</div>
|
||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> std::list<AStarPoint>* fail_path = <span class="keyword">nullptr</span>)</div>
|
||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> {</div>
|
||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="namespacedl.html#af25b35c866c22da3e60020876cd4721b">ASTAR_SHOW_LOG</a>)</div>
|
||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <a class="code hl_define" href="dl__log_8h.html#a156fd6dffd62306e07b5b77739680688">log_msg</a>(<span class="stringliteral">"{} -> {}"</span>, source, target);</div>
|
||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="comment">//清空</span></div>
|
||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> _bankCur = 0;</div>
|
||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> _masterNode.clear();</div>
|
||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> _queueOpen.Clear();</div>
|
||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="comment">//起点插入Open表</span></div>
|
||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* node_start = _get_node(source);</div>
|
||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> node_start-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#ab64739250e449beb94600ccb5cf51fb4">_open</a> = <span class="keyword">true</span>;</div>
|
||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> node_start-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a691ccf808c67ad802d06755afda2d46f">_closed</a> = <span class="keyword">false</span>;</div>
|
||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> node_start-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a> = 0;</div>
|
||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> node_start-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">_total</a> = _funcH(source, target);</div>
|
||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> node_start-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a610dfd933a28cba05579041ed1ada232">_parent</a> = NULL;</div>
|
||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> _queueOpen.Push(node_start);</div>
|
||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
|
||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> _nodeBest = <span class="keyword">nullptr</span>;</div>
|
||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> _xyTarget = target;</div>
|
||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordflow">while</span> (!_queueOpen.IsEmpty())</div>
|
||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> {</div>
|
||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="comment">//取出 消耗值 最小的节点</span></div>
|
||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> _nodeBest = _queueOpen.Pop();</div>
|
||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="namespacedl.html#af25b35c866c22da3e60020876cd4721b">ASTAR_SHOW_LOG</a>)</div>
|
||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <a class="code hl_define" href="dl__log_8h.html#aa1cfe5444875c8eca0ea6f6993977d6d">log_info</a>(<span class="stringliteral">"当前最佳节点为：{}"</span>, _nodeBest->_xy);</div>
|
||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="comment">//是目标节点</span></div>
|
||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordflow">if</span> (_nodeBest->_xy == target</div>
|
||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> || (target_near && _is_link_node(_nodeBest->_xy, target)))</div>
|
||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> {</div>
|
||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="comment">//构造路径（包含首尾节点）</span></div>
|
||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> list_path.clear();</div>
|
||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">while</span> (_nodeBest)</div>
|
||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> {</div>
|
||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> list_path.push_front(_nodeBest->_xy);</div>
|
||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> _nodeBest = _nodeBest->_parent;</div>
|
||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> }</div>
|
||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
|
||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> }</div>
|
||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
|
||
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="comment">//由于_check_connecting 会增加节点，所以提前判断，并预留一些</span></div>
|
||
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">if</span> (_bankCur + 32 >= _maxNode)</div>
|
||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> {</div>
|
||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordflow">if</span> (fail_path)</div>
|
||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> {</div>
|
||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="comment">//构造路径（包含首尾节点） </span></div>
|
||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> fail_path->clear();</div>
|
||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordflow">while</span> (_nodeBest)</div>
|
||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> {</div>
|
||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> fail_path->push_front(_nodeBest->_xy);</div>
|
||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> _nodeBest = _nodeBest->_parent;</div>
|
||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> }</div>
|
||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> }</div>
|
||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
|
||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> }</div>
|
||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="comment">//图的连接</span></div>
|
||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordflow">if</span> (_funcLink)</div>
|
||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> _funcLink(<span class="keyword">this</span>, _nodeBest->_xy);</div>
|
||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordflow">else</span></div>
|
||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> _link_node(_nodeBest->_xy);</div>
|
||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> </div>
|
||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="comment">//</span></div>
|
||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> _nodeBest->_closed = <span class="keyword">true</span>;</div>
|
||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> }</div>
|
||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> </div>
|
||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keywordflow">if</span> (fail_path)</div>
|
||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> {</div>
|
||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="comment">//构造路径（包含首尾节点） </span></div>
|
||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordflow">while</span> (_nodeBest)</div>
|
||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> {</div>
|
||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> fail_path->push_front(_nodeBest->_xy);</div>
|
||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> _nodeBest = _nodeBest->_parent;</div>
|
||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> }</div>
|
||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> }</div>
|
||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
|
||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> </div>
|
||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span></div>
|
||
<div class="foldopen" id="foldopen00250" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2"> 250</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& xy, <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> k_cost)</div>
|
||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> {</div>
|
||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordflow">if</span> (_nodeBest->_parent == <span class="keyword">nullptr</span> ||</div>
|
||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> _nodeBest->_parent->_xy != xy)</div>
|
||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> {</div>
|
||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="comment">// 代价</span></div>
|
||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> g = _funcG(_nodeBest->_xy, xy);</div>
|
||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="comment">// 如果代价 等于0，说明此节点不可通行</span></div>
|
||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordflow">if</span> (g == 0)</div>
|
||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordflow">return</span>;</div>
|
||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> </div>
|
||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* actual_node = _get_node(xy);</div>
|
||
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> </div>
|
||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="comment">// 不在close表</span></div>
|
||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordflow">if</span> (actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a691ccf808c67ad802d06755afda2d46f">_closed</a> == <span class="keyword">false</span>)</div>
|
||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> {</div>
|
||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keywordflow">if</span> (actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#ab64739250e449beb94600ccb5cf51fb4">_open</a>)</div>
|
||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> {</div>
|
||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="comment">// 上一个点代价 + 移到自己的代价 </span></div>
|
||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> new_cost = _nodeBest->_cost + g * k_cost;</div>
|
||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="comment">// 总代价，自己代价 + 估计代价</span></div>
|
||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> new_total = new_cost + _funcH(xy, _xyTarget);</div>
|
||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> </div>
|
||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="comment">//新的 代价更小 才刷新</span></div>
|
||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordflow">if</span> (new_total < actual_node->_total)</div>
|
||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> {</div>
|
||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="namespacedl.html#af25b35c866c22da3e60020876cd4721b">ASTAR_SHOW_LOG</a>)</div>
|
||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <a class="code hl_define" href="dl__log_8h.html#aa1cfe5444875c8eca0ea6f6993977d6d">log_info</a>(<span class="stringliteral">"更新节点：{}，{}->{}"</span>, actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a9d6df61067d70d20088c702caf175720">_xy</a>, actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a>, new_cost);</div>
|
||
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> </div>
|
||
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a610dfd933a28cba05579041ed1ada232">_parent</a> = _nodeBest;</div>
|
||
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a> = new_cost;</div>
|
||
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">_total</a> = new_total;</div>
|
||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> _queueOpen.UpdateNode(actual_node);</div>
|
||
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> }</div>
|
||
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> }</div>
|
||
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keywordflow">else</span></div>
|
||
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> {<span class="comment">//不在open表，则加入</span></div>
|
||
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a610dfd933a28cba05579041ed1ada232">_parent</a> = _nodeBest;</div>
|
||
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a> = _nodeBest->_cost + g * k_cost;</div>
|
||
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">_total</a> = actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a> + _funcH(xy, _xyTarget);</div>
|
||
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> </div>
|
||
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> _queueOpen.Push(actual_node);</div>
|
||
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#ab64739250e449beb94600ccb5cf51fb4">_open</a> = <span class="keyword">true</span>;</div>
|
||
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div>
|
||
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="namespacedl.html#af25b35c866c22da3e60020876cd4721b">ASTAR_SHOW_LOG</a>)</div>
|
||
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <a class="code hl_define" href="dl__log_8h.html#aa1cfe5444875c8eca0ea6f6993977d6d">log_info</a>(<span class="stringliteral">"增加节点：{}，{}"</span>, actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a9d6df61067d70d20088c702caf175720">_xy</a>, actual_node-><a class="code hl_variable" href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">_cost</a>);</div>
|
||
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> }</div>
|
||
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> }</div>
|
||
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> }</div>
|
||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span></div>
|
||
<div class="foldopen" id="foldopen00304" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#afd64487e30a1711ced54f2bbef9d46df"> 304</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star.html#afd64487e30a1711ced54f2bbef9d46df">SetLinkDiagonal</a>(<span class="keywordtype">bool</span> diagonal)</div>
|
||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> {</div>
|
||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> assert(_funcLink == <span class="keyword">nullptr</span>);</div>
|
||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> _bDiagonal = diagonal;</div>
|
||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span></div>
|
||
<div class="foldopen" id="foldopen00313" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a6b150c00580e815157925f0ba84f50d1"> 313</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a6b150c00580e815157925f0ba84f50d1">SetFuncLink</a>(<a class="code hl_typedef" href="classdl_1_1_a_star.html#a6ea291cdb5c440152228c200b373930b">FuncLink</a> func_link)</div>
|
||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> {</div>
|
||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> _funcLink = func_link;</div>
|
||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> </div>
|
||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> </div>
|
||
<div class="foldopen" id="foldopen00319" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="classdl_1_1_a_star.html#a058c8f1ea4d14cc44d2121c5e32eec7a"> 319</a></span> <a class="code hl_function" href="classdl_1_1_a_star.html#a058c8f1ea4d14cc44d2121c5e32eec7a">~AStar</a>()</div>
|
||
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> {</div>
|
||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keyword">delete</span>[] _arrNodeBank;</div>
|
||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> }</div>
|
||
</div>
|
||
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span><span class="keyword">private</span>:</div>
|
||
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> AStarNode* _get_node(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& xy)</div>
|
||
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> {</div>
|
||
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="comment">//如果在 主列表 直接返回，如果没有则从节点银行构造一个</span></div>
|
||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> uint64_t index = ((uint64_t)xy.y << 32) | (uint64_t)xy.x;</div>
|
||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> </div>
|
||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> AStarNode*& node = _masterNode[index];</div>
|
||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
|
||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordflow">if</span> (node)</div>
|
||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> {</div>
|
||
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordflow">return</span> node;</div>
|
||
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> }</div>
|
||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordflow">else</span></div>
|
||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> {</div>
|
||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="comment">//此处会越界</span></div>
|
||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordflow">if</span> (_bankCur >= _maxNode)</div>
|
||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> {</div>
|
||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="comment">//cout << "寻路的节点超过上限！" <<;</span></div>
|
||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
|
||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> }</div>
|
||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> </div>
|
||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> node = &_arrNodeBank[_bankCur++];</div>
|
||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> node->_xy = xy;</div>
|
||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> node->_open = <span class="keyword">false</span>;</div>
|
||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> node->_closed = <span class="keyword">false</span>;</div>
|
||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordflow">return</span> node;</div>
|
||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> }</div>
|
||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> }</div>
|
||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keywordtype">void</span> _link_node(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& p)</div>
|
||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> {</div>
|
||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> ASTAR_K0 = 10;</div>
|
||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">AStarCost</a> ASTAR_K1 = 14;</div>
|
||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> </div>
|
||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keywordflow">if</span> (_size.x == 0)</div>
|
||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> {</div>
|
||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x + 1, p.y }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x - 1, p.y }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x, p.y + 1 }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x, p.y - 1 }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keywordflow">if</span> (_bDiagonal)</div>
|
||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> {</div>
|
||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x + 1, p.y + 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x + 1, p.y - 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x - 1, p.y - 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x - 1, p.y + 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> }</div>
|
||
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> }</div>
|
||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordflow">else</span></div>
|
||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> {</div>
|
||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keywordflow">if</span> (p.x + 1 < _size.w)</div>
|
||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x + 1, p.y }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordflow">if</span> (p.x > 0)</div>
|
||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x - 1, p.y }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordflow">if</span> (p.y + 1 < _size.h)</div>
|
||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x, p.y + 1 }, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keywordflow">if</span> (p.y > 0)</div>
|
||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x, p.y - 1}, ASTAR_K0);</div>
|
||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> </div>
|
||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keywordflow">if</span> (_bDiagonal)</div>
|
||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> {</div>
|
||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordflow">if</span> (p.x + 1 < _size.w && p.y + 1 < _size.h)</div>
|
||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x + 1, p.y + 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordflow">if</span> (p.x + 1 < _size.w && p.y > 0)</div>
|
||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x + 1, p.y - 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordflow">if</span> (p.x > 0 && p.y > 0)</div>
|
||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x - 1, p.y - 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keywordflow">if</span> (p.x > 0 && p.y + 1 < _size.h)</div>
|
||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <a class="code hl_function" href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">AddNode</a>({ p.x - 1, p.y + 1 }, ASTAR_K1);</div>
|
||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> }</div>
|
||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> }</div>
|
||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> }</div>
|
||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keywordtype">bool</span> _is_link_node(<span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& p0, <span class="keyword">const</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a>& p1)</div>
|
||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> {</div>
|
||
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> p = <a class="code hl_function" href="classdl_1_1_a_star.html#a541ab5b6e494ef516d62b108c28de034">AbsPoint</a>(p0, p1);</div>
|
||
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordflow">if</span> (_bDiagonal)</div>
|
||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> {</div>
|
||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keywordflow">return</span> p.x <= 1 && p.y <= 1;</div>
|
||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> }</div>
|
||
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordflow">else</span></div>
|
||
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keywordflow">return</span> p.x + p.y <= 1;</div>
|
||
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> }</div>
|
||
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> </div>
|
||
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="comment">// 主列表{y, x}</span></div>
|
||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> std::unordered_map<uint64_t, AStarNode*>_masterNode;</div>
|
||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="comment">// Open表</span></div>
|
||
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_priority_queue.html">AStarPriorityQueue</a> _queueOpen;</div>
|
||
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <span class="comment">// 节点银行</span></div>
|
||
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* _arrNodeBank;</div>
|
||
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> <span class="comment">// 每次搜索前置0</span></div>
|
||
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordtype">size_t</span> _bankCur;</div>
|
||
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="comment">// 遍历节点上限（也是节点银行大小）</span></div>
|
||
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="keywordtype">size_t</span> _maxNode;</div>
|
||
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> </div>
|
||
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="comment">// 是否可斜穿</span></div>
|
||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keywordtype">bool</span> _bDiagonal;</div>
|
||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="comment">// 不为0则检查越界</span></div>
|
||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> _size;</div>
|
||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> </div>
|
||
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="comment">//回调函数</span></div>
|
||
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3">FuncCost</a> _funcG;</div>
|
||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3">FuncCost</a> _funcH;</div>
|
||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#a6ea291cdb5c440152228c200b373930b">FuncLink</a> _funcLink;</div>
|
||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> </div>
|
||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="comment">//临时缓存</span></div>
|
||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <a class="code hl_class" href="classdl_1_1_a_star_1_1_a_star_node.html">AStarNode</a>* _nodeBest;</div>
|
||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <a class="code hl_typedef" href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">AStarPoint</a> _xyTarget;</div>
|
||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span>};</div>
|
||
</div>
|
||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span>}</div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html">dl::AStar::AStarNode</a></div><div class="ttdef"><b>定义</b> <a href="#l00044">dl_astar.h:45</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html_a0a06816197be632181192d5c4030a087"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html#a0a06816197be632181192d5c4030a087">dl::AStar::AStarNode::_cost</a></div><div class="ttdeci">AStarCost _cost</div><div class="ttdef"><b>定义</b> <a href="#l00049">dl_astar.h:49</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html_a610dfd933a28cba05579041ed1ada232"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html#a610dfd933a28cba05579041ed1ada232">dl::AStar::AStarNode::_parent</a></div><div class="ttdeci">AStarNode * _parent</div><div class="ttdef"><b>定义</b> <a href="#l00048">dl_astar.h:48</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html_a66177d5845d6e99303f6ac137b5f571f"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html#a66177d5845d6e99303f6ac137b5f571f">dl::AStar::AStarNode::_total</a></div><div class="ttdeci">AStarCost _total</div><div class="ttdef"><b>定义</b> <a href="#l00050">dl_astar.h:50</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html_a691ccf808c67ad802d06755afda2d46f"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html#a691ccf808c67ad802d06755afda2d46f">dl::AStar::AStarNode::_closed</a></div><div class="ttdeci">bool _closed</div><div class="ttdef"><b>定义</b> <a href="#l00052">dl_astar.h:52</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html_a9d6df61067d70d20088c702caf175720"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html#a9d6df61067d70d20088c702caf175720">dl::AStar::AStarNode::_xy</a></div><div class="ttdeci">AStarPoint _xy</div><div class="ttdef"><b>定义</b> <a href="#l00047">dl_astar.h:47</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_node_html_ab64739250e449beb94600ccb5cf51fb4"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_node.html#ab64739250e449beb94600ccb5cf51fb4">dl::AStar::AStarNode::_open</a></div><div class="ttdeci">bool _open</div><div class="ttdef"><b>定义</b> <a href="#l00051">dl_astar.h:51</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_priority_queue_html"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_priority_queue.html">dl::AStar::AStarPriorityQueue</a></div><div class="ttdef"><b>定义</b> <a href="#l00061">dl_astar.h:62</a></div></div>
|
||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_priority_queue_html_a248891617b06aa51998c7b2f78da9061"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#a248891617b06aa51998c7b2f78da9061">dl::AStar::AStarPriorityQueue::Clear</a></div><div class="ttdeci">void Clear()</div><div class="ttdef"><b>定义</b> <a href="#l00091">dl_astar.h:91</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_priority_queue_html_a8c763f5ba3d03d74b24dbe96336832fb"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#a8c763f5ba3d03d74b24dbe96336832fb">dl::AStar::AStarPriorityQueue::IsEmpty</a></div><div class="ttdeci">bool IsEmpty()</div><div class="ttdef"><b>定义</b> <a href="#l00087">dl_astar.h:87</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_priority_queue_html_ab0ff2f2879075728e2d3c3e14f52abd5"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#ab0ff2f2879075728e2d3c3e14f52abd5">dl::AStar::AStarPriorityQueue::UpdateNode</a></div><div class="ttdeci">void UpdateNode(AStarNode *node)</div><div class="ttdef"><b>定义</b> <a href="#l00076">dl_astar.h:76</a></div></div>
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||
<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_priority_queue_html_ad943f68e1ccd3b22194e2e3a7b0aae65"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#ad943f68e1ccd3b22194e2e3a7b0aae65">dl::AStar::AStarPriorityQueue::Push</a></div><div class="ttdeci">void Push(AStarNode *node)</div><div class="ttdef"><b>定义</b> <a href="#l00071">dl_astar.h:71</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_1_1_a_star_priority_queue_html_afbbbac1145a93bd43291caad0a0a0a83"><div class="ttname"><a href="classdl_1_1_a_star_1_1_a_star_priority_queue.html#afbbbac1145a93bd43291caad0a0a0a83">dl::AStar::AStarPriorityQueue::Pop</a></div><div class="ttdeci">AStarNode * Pop()</div><div class="ttdef"><b>定义</b> <a href="#l00064">dl_astar.h:64</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a058c8f1ea4d14cc44d2121c5e32eec7a"><div class="ttname"><a href="classdl_1_1_a_star.html#a058c8f1ea4d14cc44d2121c5e32eec7a">dl::AStar::~AStar</a></div><div class="ttdeci">~AStar()</div><div class="ttdef"><b>定义</b> <a href="#l00319">dl_astar.h:319</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a1a5e67b04c53edf6fab70a473525f33c"><div class="ttname"><a href="classdl_1_1_a_star.html#a1a5e67b04c53edf6fab70a473525f33c">dl::AStar::AStarGetH</a></div><div class="ttdeci">AStarCost AStarGetH(const AStarPoint &p0, const AStarPoint &p1)</div><div class="ttdoc">默认获取H方法</div><div class="ttdef"><b>定义</b> <a href="#l00112">dl_astar.h:112</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a35ce6db852876aefcdea10444ea54ac2"><div class="ttname"><a href="classdl_1_1_a_star.html#a35ce6db852876aefcdea10444ea54ac2">dl::AStar::AddNode</a></div><div class="ttdeci">void AddNode(const AStarPoint &xy, AStarCost k_cost)</div><div class="ttdoc">添加节点（在func_link回调函数使用）</div><div class="ttdef"><b>定义</b> <a href="#l00250">dl_astar.h:250</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a541ab5b6e494ef516d62b108c28de034"><div class="ttname"><a href="classdl_1_1_a_star.html#a541ab5b6e494ef516d62b108c28de034">dl::AStar::AbsPoint</a></div><div class="ttdeci">AStarPoint AbsPoint(const AStarPoint &a, const AStarPoint &b)</div><div class="ttdef"><b>定义</b> <a href="#l00099">dl_astar.h:99</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a6b150c00580e815157925f0ba84f50d1"><div class="ttname"><a href="classdl_1_1_a_star.html#a6b150c00580e815157925f0ba84f50d1">dl::AStar::SetFuncLink</a></div><div class="ttdeci">void SetFuncLink(FuncLink func_link)</div><div class="ttdoc">修改连接函数</div><div class="ttdef"><b>定义</b> <a href="#l00313">dl_astar.h:313</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a6ea291cdb5c440152228c200b373930b"><div class="ttname"><a href="classdl_1_1_a_star.html#a6ea291cdb5c440152228c200b373930b">dl::AStar::FuncLink</a></div><div class="ttdeci">std::function< void(AStar *, const AStarPoint &)> FuncLink</div><div class="ttdef"><b>定义</b> <a href="#l00041">dl_astar.h:41</a></div></div>
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||
<div class="ttc" id="aclassdl_1_1_a_star_html_a783ed45b8123c6cf56dab800b76fb3dc"><div class="ttname"><a href="classdl_1_1_a_star.html#a783ed45b8123c6cf56dab800b76fb3dc">dl::AStar::AStarNodeCompare</a></div><div class="ttdeci">static bool AStarNodeCompare(AStarNode *n1, AStarNode *n2)</div><div class="ttdef"><b>定义</b> <a href="#l00055">dl_astar.h:55</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a8922ac9e611bdebb5d9cba8aa25ff13f"><div class="ttname"><a href="classdl_1_1_a_star.html#a8922ac9e611bdebb5d9cba8aa25ff13f">dl::AStar::AStar</a></div><div class="ttdeci">AStar(const AStarPoint &size, FuncCost func_g, FuncCost func_h=nullptr, FuncLink func_link=nullptr, size_t max_node=10000)</div><div class="ttdoc">定制一个A星寻路</div><div class="ttdef"><b>定义</b> <a href="#l00130">dl_astar.h:130</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_a9d73d282510f685c3425c6d5f201e7d3"><div class="ttname"><a href="classdl_1_1_a_star.html#a9d73d282510f685c3425c6d5f201e7d3">dl::AStar::FuncCost</a></div><div class="ttdeci">std::function< AStarCost(const AStarPoint &, const AStarPoint &)> FuncCost</div><div class="ttdef"><b>定义</b> <a href="#l00040">dl_astar.h:40</a></div></div>
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<div class="ttc" id="aclassdl_1_1_a_star_html_aa93d8f2aa4aeb8ef15b1f741078e1ab6"><div class="ttname"><a href="classdl_1_1_a_star.html#aa93d8f2aa4aeb8ef15b1f741078e1ab6">dl::AStar::AStarPoint</a></div><div class="ttdeci">T AStarPoint</div><div class="ttdef"><b>定义</b> <a href="#l00037">dl_astar.h:37</a></div></div>
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||
<div class="ttc" id="aclassdl_1_1_a_star_html_ae2ede3d24653a0eabe064d9b4804e246"><div class="ttname"><a href="classdl_1_1_a_star.html#ae2ede3d24653a0eabe064d9b4804e246">dl::AStar::Search</a></div><div class="ttdeci">bool Search(const AStarPoint &source, const AStarPoint &target, bool target_near, std::list< AStarPoint > &list_path, std::list< AStarPoint > *fail_path=nullptr)</div><div class="ttdoc">搜索</div><div class="ttdef"><b>定义</b> <a href="#l00166">dl_astar.h:166</a></div></div>
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||
<div class="ttc" id="aclassdl_1_1_a_star_html_af35a1aaa69793520a3b6f149a221f57d"><div class="ttname"><a href="classdl_1_1_a_star.html#af35a1aaa69793520a3b6f149a221f57d">dl::AStar::SetSize</a></div><div class="ttdeci">void SetSize(const AStarPoint &size)</div><div class="ttdef"><b>定义</b> <a href="#l00152">dl_astar.h:152</a></div></div>
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||
<div class="ttc" id="aclassdl_1_1_a_star_html_af989ec1292396968a634165d2775ebb4"><div class="ttname"><a href="classdl_1_1_a_star.html#af989ec1292396968a634165d2775ebb4">dl::AStar::AStarCost</a></div><div class="ttdeci">COST AStarCost</div><div class="ttdef"><b>定义</b> <a href="#l00039">dl_astar.h:39</a></div></div>
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||
<div class="ttc" id="aclassdl_1_1_a_star_html_afd64487e30a1711ced54f2bbef9d46df"><div class="ttname"><a href="classdl_1_1_a_star.html#afd64487e30a1711ced54f2bbef9d46df">dl::AStar::SetLinkDiagonal</a></div><div class="ttdeci">void SetLinkDiagonal(bool diagonal)</div><div class="ttdoc">设置是否对角线可走（使用默认连接函数才有效）</div><div class="ttdef"><b>定义</b> <a href="#l00304">dl_astar.h:304</a></div></div>
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||
<div class="ttc" id="adl__log_8h_html"><div class="ttname"><a href="dl__log_8h.html">dl_log.h</a></div><div class="ttdoc">日志系统</div></div>
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||
<div class="ttc" id="adl__log_8h_html_a156fd6dffd62306e07b5b77739680688"><div class="ttname"><a href="dl__log_8h.html#a156fd6dffd62306e07b5b77739680688">log_msg</a></div><div class="ttdeci">#define log_msg(...)</div><div class="ttdef"><b>定义</b> <a href="dl__log_8h_source.html#l00281">dl_log.h:281</a></div></div>
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||
<div class="ttc" id="adl__log_8h_html_aa1cfe5444875c8eca0ea6f6993977d6d"><div class="ttname"><a href="dl__log_8h.html#aa1cfe5444875c8eca0ea6f6993977d6d">log_info</a></div><div class="ttdeci">#define log_info(...)</div><div class="ttdef"><b>定义</b> <a href="dl__log_8h_source.html#l00280">dl_log.h:280</a></div></div>
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<div class="ttc" id="adl__string_8h_html"><div class="ttname"><a href="dl__string_8h.html">dl_string.h</a></div><div class="ttdoc">字符串相关</div></div>
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<div class="ttc" id="anamespacedl_html"><div class="ttname"><a href="namespacedl.html">dl</a></div><div class="ttdef"><b>定义</b> <a href="dl__array_8h_source.html#l00021">dl_array.h:22</a></div></div>
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<div class="ttc" id="anamespacedl_html_a38a0162879cdbfbbe99ba16e7a170132ab9ece18c950afbfa6b0fdbfa4ff731d3"><div class="ttname"><a href="namespacedl.html#a38a0162879cdbfbbe99ba16e7a170132ab9ece18c950afbfa6b0fdbfa4ff731d3">dl::KeyCode::T</a></div><div class="ttdeci">@ T</div><div class="ttdef"><b>定义</b> <a href="dl__input_8h_source.html#l00121">dl_input.h:121</a></div></div>
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||
<div class="ttc" id="anamespacedl_html_af25b35c866c22da3e60020876cd4721b"><div class="ttname"><a href="namespacedl.html#af25b35c866c22da3e60020876cd4721b">dl::ASTAR_SHOW_LOG</a></div><div class="ttdeci">constexpr bool ASTAR_SHOW_LOG</div><div class="ttdef"><b>定义</b> <a href="#l00029">dl_astar.h:29</a></div></div>
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