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路径规划算法,路径规划算法.txt
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package com.bit.pathplanning;
/**
* 地图网格节点类
* @author Hao
*
*/
public class MapNode {
private double x;
private double y;
private double G;
private double F;
private double H;
private MapNode fatherNode;
private boolean reachable;
public MapNode(){
}
public MapNode(double x,double y){
this.x = x;
this.y = y;
G = 0;
F = 0;
H = 0;
fatherNode = null;
reachable = true;
}
@Override
public String toString() {
return "MapNode [x=" + x + ", y=" + y + ", reachable=" + reachable + "]";
/**
* 地图网格节点类
* @author Hao
*
*/
public class MapNode {
private double x;
private double y;
private double G;
private double F;
private double H;
private MapNode fatherNode;
private boolean reachable;
public MapNode(){
}
public MapNode(double x,double y){
this.x = x;
this.y = y;
G = 0;
F = 0;
H = 0;
fatherNode = null;
reachable = true;
}
@Override
public String toString() {
return "MapNode [x=" + x + ", y=" + y + ", reachable=" + reachable + "]";
}
public double getX() {
return x;
}
public double getY() {
return y;
}
public boolean isReachable() {
return reachable;
}
public void setReachable(boolean reachable) {
this.reachable = reachable;
}
public MapNode getFatherNode() {
return fatherNode;
}
public void setFatherNode(MapNode fatherNode) {
this.fatherNode = fatherNode;
this.F = fatherNode.F + this.distanceTo(fatherNode);
this.G = this.F + this.H;
}
/**
* 计算H值
public double getX() {
return x;
}
public double getY() {
return y;
}
public boolean isReachable() {
return reachable;
}
public void setReachable(boolean reachable) {
this.reachable = reachable;
}
public MapNode getFatherNode() {
return fatherNode;
}
public void setFatherNode(MapNode fatherNode) {
this.fatherNode = fatherNode;
this.F = fatherNode.F + this.distanceTo(fatherNode);
this.G = this.F + this.H;
}
/**
* 计算H值
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