课程作业基于python实现的多AGV路径规划算法研究源码

# coding=gbk from ctypes import * import numpy as np import matplotlib.pyplot as plt from matplotlib.patches import Rectangle import random_map import ctypes plt.figure(figsize=(5, 5)) map = random_map.RandomMap() mymap = np.zeros((map.size, map.size), dtype=c_int) ax = plt.gca() ax.set_xlim([0, map.size]) ax.set_ylim([0, map.size]) for i in range(map.size): for j in range(map.size): if map.IsObstacle(i, j): rec = Rectangle((map.size - 1-j, i), width=1, height=1, color='gray') ax.add_patch(rec) mymap[i][j] = 1 else: rec = Rectangle((map.size - 1-j, i), width=1, height=1, edgecolor='gray', facecolor='w') ax.add_patch(rec) #print mymap rec = Rectangle((0, 0), width=1, height=1, facecolor='b') ax.add_patch(rec) rec = Rectangle((map.size - 1, map.size - 1), width=1, height=1, facecolor='r') ax.add_patch(rec) plt.axis('equal') plt.axis('off') plt.tight_layout() class Point(Structure): _fields_ = [("x", c_int), ("y", c_int)] path = np.array([(0, 0)] * map.size*4, dtype=Point) dll = ctypes.cdll.LoadLibrary('H:/algorithm/lib/pathfide_dll.dll') map_ctypes_ptr = cast(mymap.ctypes.data, POINTER(c_int)) # path_ctypes_ptr = cast(path.ctypes.data, POINTER(c_int)) dll.getPath.restype = POINTER(Point) path = dll.getPath(map.size - 1, 0, 0, map.size - 1, map_ctypes_ptr) current = 0 while path[current].x != 0 and path[current].y != 0: rec = Rectangle((map.size - 1-path[current].y, path[current].x), width=1, height=1, facecolor='c') ax.add_patch(rec) #print("(%s , %d)" %(path[current].x,path[current].y)) current = current + 1 plt.show()