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111 lines
2.3 KiB
111 lines
2.3 KiB
#pragma once
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#ifdef _WIN32
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#ifdef WIREROUTINGDLL_EXPORTS // VisualStudio DLL 项目模板会将 <PROJECTNAME>_EXPORTS 添加到定义预处理器宏。
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#define ASTAR_API __declspec(dllexport) // _WIN32
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#else
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#define ASTAR_API __declspec(dllimport)
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#endif
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#else
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#define ASTAR_API
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#endif
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#include "BranchTree.h"
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#include<cmath>
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#include<vector>
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#include<queue>
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#include<map>
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#include<iostream>
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#include<fstream>
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#include<sstream>
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#include <cassert>
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using namespace std;
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extern ASTAR_API BranchTree branchTree;
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struct ASTAR_API DSU{
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int f[N];
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void init(int cnt);
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int getrt(int x);
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void merge(int x, int y);
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};
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struct ASTAR_API Node{
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int xs,turncnt;
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double dis;
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bool operator <(Node B)const;
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Node();
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Node(int xs1,int turnc,double dis1);
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};
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//用于搜索路径的数据结构，每种类型的线束会分配到一个
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struct ASTAR_API Astar{
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ClipSet * pclipSet; //指向卡箍集合
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BranchTree *pbranchTree; //指向分支树
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P points[MAXPointNum]; //点的信息，包括卡箍点，分支点和端点
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P start,goal,start_dir,goal_dir; //起点终点以及方向
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int S,T; //起点和终点的标号
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map<int, vector<int> >edge;
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//存储每个点附近不碰撞的其他点，避免重复调用kdtree和bvh
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map<P,pair<int,int> > nearClip; //因为端点处不能分叉，所以标记端点连接到的最近卡箍
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int searchNum; //搜索次数，用于调试
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int pre[MAXPointNum],vis[MAXPointNum]; //pre存储一个点的上一个点，vis存储一个点是否被访问过
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int st[MAXPointNum],block[MAXPointNum]; //st是临时栈，block标记的点不能被通过
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int pnum; //卡箍点总数
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int tnum; //所有点总数
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Path path; //路径结果
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double bend_r,l; //弯曲半径，总长度
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Node dis[MAXPointNum]; //存储距离信息
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priority_queue<Node>pq; //优先队列
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double preBranchPointPos[MAXPointNum]; //若前一个点是1类型（同进异出）分支点，存储其最优位置
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Astar();
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void addBranchTree(BranchTree *pbranchTree);
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//初始化
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void init();
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//添加一个卡箍点
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void add_clip(P& p, P& d);
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void add_clip(Clip& cp);
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//添加一个分支点
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void add_branchPoint(BranchPoint& bp);
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/*
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inline double cost(P &p1,P &p2){
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if(bvh.iscollect(p1,p2))return 1e9;
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//return distan(p1,p2);
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return angelAndLength(p1,p2);
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}
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*/
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Path search_pair(P& start, P& goal, P& start_dir, P& goal_dir, double dia);
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Path search_pair(P& start, P& goal, double dia);
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Path search_pair(Bund& bd);
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void searchForPreProcess();
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void search();
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};
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extern ASTAR_API Astar astar;
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