unit1.~cpp

A*算法的优化范例

#include<iostream>
#include<fstream>
#include<vector>
#include<string>
#include<math.h>
using namespace std;
typedef vector<int> typePATH;
#include"clsNODE.h"
#include"clsMAP.h"
#include"clsMAP4d.h"
#include"clsMAP8dB.h"
#include"clsPathFinder.h"
#include"clsPathFinder4d.h"
#include"clsPathFinder8dB.h"
//---------------------------------------------------------------------------
#include <vcl.h>
#pragma hdrstop
#include "Unit1.h"
#include<mmsystem.h>
//---------------------------------------------------------------------------
#pragma package(smart_init)
#pragma resource "*.dfm"
TfrmMain *frmMain;
//---------------------------------------------------------------------------
__fastcall TfrmMain::TfrmMain(TComponent* Owner)
        : TForm(Owner)
{
}
//---------------------------------------------------------------------------
// 名称：ClearMapPath
// 功能：清楚地图上的路径痕迹
//---------------------------------------------------------------------------
void TfrmMain::ClearMapPath()
{
    int x, y;
    for(x = 0; x < 50; x++)
        for(y = 0; y < 50; y++){
            if(imgMAP->Canvas->Pixels[x * 10 + 5][y * 10 + 5] == clYellow){
                setBrush(x * 10 + 5, y * 10 + 5, 2);
                imgMAP->Canvas->Rectangle(rectBrush);
            }
        }
}
//---------------------------------------------------------------------------

void __fastcall TfrmMain::imgMAPMouseDown(TObject *Sender,
      TMouseButton Button, TShiftState Shift, int X, int Y)
{
    if(MapPathShowExist){
        ClearMapPath();
        MapPathShowExist = 0;
    }
    mouse_down = 1;
    //判断是否需要清楚原来的起点
    if(mouse_state == 3){
        if(imgMAP->Canvas->Pixels[start_point_old_x * 10 + 5][start_point_old_y * 10 + 5] == clGreen){
            setBrush(start_point_old_x * 10 + 5, start_point_old_y * 10 + 5, 2);
            imgMAP->Canvas->Rectangle(rectBrush);
        }
        start_point_old_x = X / 10;
        start_point_old_y = Y / 10;
    }
    //判断是否需要清楚原来的终点
    if(mouse_state == 4){
        if(imgMAP->Canvas->Pixels[finish_point_old_x * 10 + 5][finish_point_old_y * 10 + 5] == clRed){
            setBrush(finish_point_old_x * 10 + 5, finish_point_old_y * 10 + 5, 2);
            imgMAP->Canvas->Rectangle(rectBrush);
        }
        finish_point_old_x = X / 10;
        finish_point_old_y = Y / 10;
    }
    setBrush(X, Y, mouse_state);
    imgMAP->Canvas->Rectangle(rectBrush);
}
//---------------------------------------------------------------------------

void __fastcall TfrmMain::imgMAPMouseUp(TObject *Sender,
      TMouseButton Button, TShiftState Shift, int X, int Y)
{
    mouse_down = 0;;
}
//---------------------------------------------------------------------------

void __fastcall TfrmMain::imgMAPMouseMove(TObject *Sender,
      TShiftState Shift, int X, int Y)
{
    //刷新状态栏坐标
    stbMAP->Panels[0][0]->Text = IntToStr(X / 10 + 1) + ","+ IntToStr(Y / 10 + 1);
    //鼠标不为设置起点或设置终点才可以描绘
    if((mouse_down) && (mouse_state != 3) && (mouse_state != 4)){
        setBrush(X, Y, mouse_state);
        imgMAP->Canvas->Rectangle(rectBrush);
    }
}
//---------------------------------------------------------------------------
void __fastcall TfrmMain::btnDRAWClick(TObject *Sender)
{
    mouse_state = 1;
    stbMAP->Panels[0][1]->Text = "障碍";
}
//---------------------------------------------------------------------------

void __fastcall TfrmMain::btnERASERClick(TObject *Sender)
{
    mouse_state = 2;
    stbMAP->Panels[0][1]->Text = "擦除";
}
//---------------------------------------------------------------------------

void __fastcall TfrmMain::btnSETSTARTClick(TObject *Sender)
{
    mouse_state = 3;
    stbMAP->Panels[0][1]->Text = "起点";
}
//---------------------------------------------------------------------------

void __fastcall TfrmMain::btnSETFINISHClick(TObject *Sender)
{
    mouse_state = 4;
    stbMAP->Panels[0][1]->Text = "终点";
}
//---------------------------------------------------------------------------



void __fastcall TfrmMain::FormCreate(TObject *Sender)
{
    //使用双缓冲，否则imgMAP会闪烁
    imgMAP->Parent->DoubleBuffered = True;
    ClearMap();
    MapPathShowExist = 0;
    //初始化起点终点和鼠标
    mouse_state = 1;
    start_point_old_x = 51;
    start_point_old_y = 51;
    finish_point_old_x = 51;
    finish_point_old_y = 51;

    //初始化状态栏
    stbMAP->Panels[0][0]->Text = "0,0";
    stbMAP->Panels[0][1]->Text = "障碍";
    pgbMAP->Parent = stbMAP;
    pgbMAP->Top = 2;
    pgbMAP->Left = stbMAP->Width - pgbMAP->Width;
}
//---------------------------------------------------------------------------
// 名称：setBrush
// 功能：设置笔刷坐标和颜色；
//---------------------------------------------------------------------------
void TfrmMain::setBrush(int X, int Y, int color)
{
    int new_x, new_y;
    new_x = X / 10 * 10;
    new_y = Y / 10 * 10;
    rectBrush.Left = new_x;
    rectBrush.Top = new_y;
    rectBrush.Right = new_x + 10;
    rectBrush.Bottom = new_y + 10;
    imgMAP->Canvas->Brush->Style = bsSolid;
    switch(color){
    case 1 : //鼠标为画笔
        imgMAP->Canvas->Pen->Color = clBlue;
        imgMAP->Canvas->Brush->Color = clBlue;
        break;
    case 2 : //鼠标为擦除
        imgMAP->Canvas->Pen->Color = clBlack;
        imgMAP->Canvas->Brush->Color = clBlack;
        break;
    case 3 : //鼠标为设置起点
        imgMAP->Canvas->Pen->Color = clGreen;
        imgMAP->Canvas->Brush->Color = clGreen;
        break;
    case 4 : //鼠标为设置终点
        imgMAP->Canvas->Pen->Color = clRed;
        imgMAP->Canvas->Brush->Color = clRed;
        break;
    case 5 : //颜色为路径
        imgMAP->Canvas->Pen->Color = clYellow;
        imgMAP->Canvas->Brush->Color = clYellow;
        break;
    }

}
//---------------------------------------------------------------------------
void __fastcall TfrmMain::btnSaveMapClick(TObject *Sender)
{
    if(dlgMapSave->Execute()){
        AnsiString mapFILENAME = dlgMapSave->FileName;
        SaveMAP(mapFILENAME);
        pgbMAP->Position = 0;
        //Application->MessageBoxA("保存成功",Application->Name.c_str(),MB_OK);
    }
}
//---------------------------------------------------------------------------
// 名称：CheckMap
// 功能：检查地图是否可以
//---------------------------------------------------------------------------
int TfrmMain::CheckMap()
{
    int start_point_exist = 0, finish_point_exist = 0;
    //转换imgMAP中图像到字符串列表strList中
    int i, j;
    for(i = 0; i < 50; i++)
        for(j = 0; j < 50; j++)
            switch(imgMAP->Canvas->Pixels[j * 10 + 5][i * 10 + 5]){
            case clGreen :
                start_point_exist = 1;
                break;
            case clRed :
                finish_point_exist = 1;
                break;
            }
    if(start_point_exist && finish_point_exist)
        return 1;
    return 0;
}

//---------------------------------------------------------------------------
// 名称：SaveMAP
// 功能：保存地图用
//---------------------------------------------------------------------------
void TfrmMain::SaveMAP(AnsiString mapFILENAME)
{
    TStringList *strList = new TStringList();
    AnsiString strLine;
    //转换imgMAP中图像到字符串列表strList中
    int i, j;
    for(i = 0; i < 50; i++){
        strLine = "";
        for(j = 0; j < 50; j++){
            switch(imgMAP->Canvas->Pixels[j * 10 + 5][i * 10 + 5]){
            case clBlack :
                strLine += ".";
                break;
            case clBlue :
                strLine += "X";
                break;
            case clGreen :
                strLine += "s";
                break;
            case clRed :
                strLine += "f";
                break;
            default :
                strLine += ".";
            }
            pgbMAP->Position =  i * 2 + j * (2 / 50); 
        }
        strList->Add(strLine);
    }
    //保存地图文件
    strList->SaveToFile(mapFILENAME);
}
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// 名称：SaveTempMAP
// 功能：保存临时地图用
//---------------------------------------------------------------------------
void TfrmMain::SaveTempMAP(AnsiString mapFILENAME)
{
    TStringList *strList = new TStringList();
    AnsiString strLine;
    //转换imgMAP中图像到字符串列表strList中
    int i, j;
    for(i = 0; i < 50; i++){
        strLine = "";
        for(j = 0; j < 50; j++){
            switch(imgMAP->Canvas->Pixels[j * 10 + 5][i * 10 + 5]){
            case clBlack :
                strLine += ".";
                break;
            case clBlue :
                strLine += "X";
                break;
            case clGreen :
                strLine += "s";
                break;
            case clRed :
                strLine += "f";
                break;
            default :
                strLine += ".";
            }
        }
        strList->Add(strLine);
    }
    //保存地图文件
    strList->SaveToFile(mapFILENAME);
}
//---------------------------------------------------------------------------
void __fastcall TfrmMain::btnFindPathClick(TObject *Sender)
{
    if(CheckMap() == 0){
        Application->MessageBoxA("没有设置起点或终点", Application->Name.c_str(), MB_OK);
        return;
    }
    pgbMAP->Position = 20;
    unsigned long time_cost;
    AnsiString mapFILENAME = "map.tmp";
    SaveTempMAP(mapFILENAME);
    pgbMAP->Position = 40;
    int idxALG = rdgALG->ItemIndex;
    typePATH path;
    if(idxALG == 0){
        clsMAP4d map;
        map.InputMapFile(mapFILENAME.c_str());
        clsPathFinder4d PathFinder;
        pgbMAP->Position = 60;
        //开启寻路
        time_cost = (unsigned long)(timeGetTime());
        path = PathFinder.FindPath(map);
        time_cost = (unsigned long)(timeGetTime()) - time_cost;
        pgbMAP->Position = 80;
        stbMAP->Panels[0][2]->Text = IntToStr(time_cost) + "ms";
        if(path.size()){
            pgbMAP->Position = 100;
            ShowMapPath(path, map);
            MapPathShowExist = 1;
        }
        SetCost(path);
    }
    if(idxALG == 1){
        clsMAP map;
        map.InputMapFile(mapFILENAME.c_str());
        clsPathFinder PathFinder;
        pgbMAP->Position = 60;
        //开启寻路
        time_cost = (unsigned long)(timeGetTime());
        path = PathFinder.FindPath(map);
        time_cost = (unsigned long)(timeGetTime()) - time_cost;
        pgbMAP->Position = 80;
        stbMAP->Panels[0][2]->Text = IntToStr(time_cost) + "ms";
        if(path.size()){
            pgbMAP->Position = 100;