基于A*算法的最优路径搜索

package clientGUI; import java.awt.BorderLayout; import java.awt.Button; import java.awt.Color; import java.awt.GridLayout; import java.awt.event.ActionEvent; import java.awt.event.ActionListener; import javax.swing.JButton; import javax.swing.JFrame; import javax.swing.JLabel; import javax.swing.JPanel; import map.Node; import search_algorithm.HeuristicSearch; public class ClientGUI extends JFrame implements ActionListener{ private Node[][] map; private Node start; private Node end; private NodeView[][] mapView; private JButton buttonNext; private HeuristicSearch heuristicSearch; public ClientGUI() { initMap(); System.out.println(" "+start); heuristicSearch = new HeuristicSearch(map, start, end); buttonNext = new JButton("Next"); buttonNext.addActionListener(this); int x = map.length; int y = map[0].length; setLayout(new BorderLayout()); setTitle("+7nb"); JPanel mapPanel = new JPanel(new GridLayout(x,y,2,2)); add(mapPanel,BorderLayout.NORTH); add(buttonNext,BorderLayout.SOUTH); mapView = new NodeView[x][y]; for(int i=0; i<x; i++) { for(int j=0; j<y; j++) { NodeView nodeView = new NodeView(); mapView[i][j] = nodeView; mapPanel.add(nodeView); } } update(); // 设置窗口 int windowLength = y*50+(y-1)*2; int windowWidth = x*50+(y-1)*2+100; setSize(windowLength,windowWidth); setVisible(true); setLocationRelativeTo(null); setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); } /** * 初始化地图 */ public void initMap() { // 地图 map = new Node[9][9]; for(int i = 0;i<9;i++) { for(int j = 0;j<9;j++) { Node node = new Node(i,j); map[i][j] = node; } } Node node1 = new Node(Node.WALL,4,1); map[4][1] = node1; Node node2 = new Node(Node.WALL,2,2); map[2][2] = node2; Node node3 = new Node(Node.WALL,3,2); map[3][2] = node3; Node node4 = new Node(Node.WALL,4,2); map[4][2] = node4; Node node5 = new Node(Node.WALL,5,2); map[5][2] = node5; Node node6 = new Node(Node.WALL,2,3); map[2][3] = node6; Node node7 = new Node(Node.WALL,5,3); map[5][3] = node7; Node node8 = new Node(Node.WALL,2,4); map[2][4] = node8; Node node9 = new Node(Node.WALL,2,5); map[2][5] = node9; Node node0 = new Node(Node.WALL,2,6); map[2][6] = node0; start = new Node(Node.START,3,1,0,0); map[3][1] = start; end = new Node(Node.END,3,3); map[3][3] = end; } /** * 刷新用户图形界面 * @param map */ public void update() { int x = map.length; int y = map[0].length; for(int i=0; i<x; i++) { for(int j=0; j<y; j++) { Node node = map[i][j]; NodeView nodeView = mapView[i][j]; JLabel textG = nodeView.getTextG(); JLabel textH = nodeView.getTextH(); JLabel textF = nodeView.getTextF(); int type = node.getType(); switch (type) { case Node.EMPTY: nodeView.setBackground(Color.WHITE); textG.setText(" "); textH.setText(" "); textF.setText(" "); break; case Node.START: nodeView.setBackground(Color.BLUE); textG.setText(" "); textH.setText(" "); textF.setText("A"); break; case Node.END: nodeView.setBackground(Color.BLUE); textG.setText(" "); textH.setText(" "); textF.setText("B"); break; case Node.PATH: nodeView.setBackground(Color.BLUE); textG.setText(" "+node.getG()); textH.setText(node.getH()+" "); textF.setText(node.getF()+""); break; case Node.WALL: nodeView.setBackground(Color.BLACK); textG.setText(" "); textH.setText(" "); textF.setText(" "); break; case Node.OPEN: nodeView.setBackground(Color.GREEN); textG.setText(" "+node.getG()); textH.setText(node.getH()+" "); textF.setText(node.getF()+""); break; case Node.CLOSED: nodeView.setBackground(Color.RED); textG.setText(" "+node.getG()); textH.setText(node.getH()+" "); textF.setText(node.getF()+""); break; default: break; } } } } @Override public void actionPerformed(ActionEvent e) { int state = heuristicSearch.execute(); switch (state) { case HeuristicSearch.CONTINUE: update(); break; case HeuristicSearch.SUCESS: int steps = heuristicSearch.getShortestPath(); buttonNext.setText("Success! Steps:"+steps); update(); break; case HeuristicSearch.FAILURE: update(); buttonNext.setText("failure!"); default: break; } } }