int main()
{
input();
initCost();
getCost();
getAnswer();
output();
return 0;
}
void
NavFn::setupNavFn(bool keepit)
{
// reset values in propagation arrays
for (int i=0; i<ns; i++)
{
potarr[i] = POT_HIGH;
if (!keepit) costarr[i] = COST_NEUTRAL;
gradx[i] = grady[i] = 0.0;
}
// outer bounds of cost array
COSTTYPE *pc;
pc = costarr;
for (int i=0; i<nx; i++)
*pc++ = COST_OBS;
pc = costarr + (ny-1)*nx;
for (int i=0; i<nx; i++)
*pc++ = COST_OBS;
pc = costarr;
for (int i=0; i<ny; i++, pc+=nx)
*pc = COST_OBS;
pc = costarr + nx - 1;
for (int i=0; i<ny; i++, pc+=nx)
*pc = COST_OBS;
// priority buffers
curT = COST_OBS;
curP = pb1;
curPe = 0;
nextP = pb2;
nextPe = 0;
overP = pb3;
overPe = 0;
memset(pending, 0, ns*sizeof(bool));
// set goal
int k = goal[0] + goal[1]*nx;
initCost(k,0);
// find # of obstacle cells
pc = costarr;
int ntot = 0;
for (int i=0; i<ns; i++, pc++)
{
if (*pc >= COST_OBS)
ntot++; // number of cells that are obstacles
}
nobs = ntot;
}
int main()
{
int i, j, wt, k, n, top;
int stack[MAX];
n = 7;
for(i = 0; i < n; i++)
{
stack[i] = -1;
}
initCost();
floyd(n);
for(i = 0; i < n; i++)
{
for(j = 0; j < n; j++)
{
wt = weight[i][j];
if( i != j && wt != MAXCOST)
{
printf("DIST(V%d,V%d)=%d\n", i+1, j+1, wt);
//采用栈来输出最短路径所经过的顶点
k = j;
if(path[i][k] != 0)
{
top = -1;
while(path[i][k] != 0)
{
stack[++top] = path[i][k];
k = path[i][k];
}
printf("V%d --> ", i+1);
while(top != -1)
{
printf("V%d", stack[top--]+1);
if(top != -1)
printf(" --> ");
}
printf(" --> V%d\n", j+1);
}
else
{
printf("V%d --> V%d\n", i+1, j+1);
}
}
}
}
return 0;
}
int main()
{
int i, j, n, v0, v;
n = 7;
initCost();
printf("Input v0(-1 for quit): ");
scanf("%d", &v0);
v = v0 - 1;
while(v != -2)
{
for(i = 0; i < n; i++)
path[i] = -1;
dijkstra(n, v);
for(i = 0; i < n; i++)
{
if(i != v)
{
if(miniDistance[i] < MAXCOST)
{
printf("DIST[%d, %d]=%d\n", v0, i+1, miniDistance[i]);
//输出最短路径所经过的顶点
printf(" V%d --> ", v0);
for(j = 0; path[j] != i; j++)
{
printf("V%d", path[j]+1);
if(path[j+1] != i)
printf(" --> ");
}
if(path[0] == i)
printf("V%d", i+1);
else
printf(" --> V%d", i+1);
printf("\n");
}
else
{
printf("DIST[%d, %d]=NONE!\n", v0, i+1, miniDistance[i]);
}
}
}
printf("\nInput v0(-1 for quit): ");
scanf("%d", &v0);
v = v0 - 1;
}
}
bool
MPTreeMgr::readInput( const char * node , const char * pl , const char * net )
{
Node * pNd1 , * pNd2;
int arg1 , arg2 , move;
cout << " > readInput() : start reading input data\n";
if ( !readNode ( node ) ) return false;
if ( !readPosition ( pl ) ) return false;
if ( !readNet ( net ) ) return false;
buildInitMPTree();
while ( !packMPTree() ) {
pNd1 = pNd2 = NULL;
arg1 = arg2 = -1;
move = rand() % 4;
perturbMPTree( &pNd1 , &pNd2 , &arg1 , &arg2 , move );
}
initCost();
return true;
}