机器人搬重物

机器人搬重物

时间限制: 1 Sec   内存限制: 128 MB
提交: 28   解决: 13
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题目描述

机器人移动学会（RMI）现在正尝试用机器人搬运物品。机器人的形状是一个直径1.6米的球。在试验阶段，机器人被用于在一个储藏室中搬运货物。储藏室是一个N*M的网格，有些格子为不可移动的障碍。机器人的中心总是在格点上，当然，机器人必须在最短的时间内把物品搬运到指定的地方。机器人接受的指令有：先前移动1步（Creep）；向前移动2步（Walk）；向前移动3步（Run）；向左转（Left）；向右转（Right）。每个指令所需要的时间为1秒。请你计算一下机器人完成任务所需的最少时间。  

输入

输入的第一行为两个正整数N,M（N,M<=50），下面N行是储藏室的构造，0表示无障碍，1表示有障碍，数字之间用一个空格隔开。接着一行有四个整数和一个大写字母，分别为起始点和目标点左上角网格的行与列，起始时的面对方向（东E，南S，西W，北N），数与数，数与字母之间均用一个空格隔开。终点的面向方向是任意的。

输出

一个整数，表示机器人完成任务所需的最少时间。如果无法到达，输出-1。

样例输入

9 10
0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 1 0
0 0 0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0
0 0 0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0 0 0
0 0 0 1 1 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 1 0
7 2 2 7 S

样例输出

12

代码一,直接模拟题意，坐标位置代表左上角区块的位置。

#include<iostream>
#include<cstdio>
#include<cmath>
#include<cstring>
#include<queue>
#define PI acos(-1.0)
using  namespace std;
const double eps = 1e-10;
int G[55][55];
int n,m;
int sx,sy,ex,ey;
char dirr[10] = "NSWE";
bool vis[55][55][4];
int dir;
struct node{
    int x,y,step;
    int dir;
};
bool inborder(node tt){
    if(tt.x >=0 && tt.x <n && tt.y>=0 && tt.y <m
       && tt.x-1 >=0 && tt.x-1 <n && tt.y>=0 && tt.y <m
       && tt.x-1 >=0 && tt.x-1 <n && tt.y-1>=0 && tt.y-1 <m
       && tt.x >=0 && tt.x <n && tt.y-1>=0 && tt.y-1 <m
       && G[tt.x][tt.y] == 0 && G[tt.x-1][tt.y] == 0
       && G[tt.x-1][tt.y-1] == 0&& G[tt.x][tt.y-1] == 0
       ) {
        return true;
    }
    return false;
}
void bfs(){
    queue<node>Q;
    node st; st.x = sx; st.y = sy; st.step = 0;st.dir = dir;
    Q.push(st);
    int Find = 0;
    while(!Q.empty()){
        node now = Q.front();Q.pop();
       // cout<<now.x<<" "<<now.y<<" "<<now.dir<<" "<<now.step<<endl;
        if(now.x == ex && now.y == ey){
            printf("%d\n",now.step);Find  = 1; break;
        }
        node nt;
        for(int i=2;i<5;i++){
            if(now.dir == 0){
                if(i < 3){
                    node aa ,bb ,cc;
                    aa.x = now.x -1; aa.y =now.y; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x -2; bb.y =now.y; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x -3; cc.y =now.y; cc.step = now.step+1;cc.dir = now.dir;
                    if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 2; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                else if(i ==4){
                    nt.dir = 3; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                if(inborder(nt) && !vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
            else if(now.dir == 1){
                if(i < 3){
                     node aa ,bb ,cc;
                    aa.x = now.x +1; aa.y =now.y; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x +2; bb.y =now.y; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x +3; cc.y =now.y; cc.step = now.step+1;cc.dir = now.dir;
                    if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 3; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                 else if(i ==4){
                    nt.dir = 2; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
               if(inborder(nt) && !vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
            else if(now.dir == 2){
                 if(i < 3){
                     node aa ,bb ,cc;
                    aa.x = now.x; aa.y =now.y -1; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x; bb.y =now.y -2; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x; cc.y =now.y -3; cc.step = now.step+1;cc.dir = now.dir;
                   if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 1; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                else if(i ==4){
                    nt.dir = 0; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
               if(inborder(nt) && !vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
            else if(now.dir == 3){
                if(i < 3){
                     node aa ,bb ,cc;
                    aa.x = now.x; aa.y =now.y +1; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x; bb.y =now.y +2; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x; cc.y =now.y +3; cc.step = now.step+1;cc.dir = now.dir;
                    if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 0; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                 else if(i ==4){
                    nt.dir = 1; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                if(inborder(nt) &&!vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
        }
    }
    if(!Find){
        printf("-1\n");
    }
}
int main(){
        while(scanf("%d%d",&n,&m)!=EOF){
        memset(G,0,sizeof(G));
        for(int i=0;i<n;i++){
            for(int j=0;j<m;j++)
                scanf("%d",&G[i][j]);
        }
        char dd;
        memset(vis,0,sizeof(vis));
        scanf("%d%d%d%d %c",&sx,&sy,&ex,&ey,&dd);
        for(int i=0;i<4;i++){
            if(dd == dirr[i])
                dir = i;
        }
        vis[sx][sy][dir] = 1;
        bfs();
        }
    return 0 ;
}

代码二

修改地图，以区块的边界线作为节点，这样输入的时候从1 1 开始读入地图，空出一行来。然后由于机器人边界问题，所以坐标活动范围只能是 1 ~ n-1 1 ~ m-1;

#include<iostream>
#include<cstdio>
#include<cmath>
#include<cstring>
#include<queue>
#define PI acos(-1.0)
using  namespace std;
const double eps = 1e-10;
int G[55][55];
int n,m;
int sx,sy,ex,ey;
char dirr[10] = "NSWE";
bool vis[55][55][4];
int dir;
struct node{
    int x,y,step;
    int dir;
};
bool inborder(node tt){
    if(tt.x >0 && tt.x <n && tt.y>0 && tt.y <m
      && G[tt.x][tt.y] == 0 ) {
        return true;
    }
    return false;
}
void bfs(){
    queue<node>Q;
    node st; st.x = sx; st.y = sy; st.step = 0;st.dir = dir;
    Q.push(st);
    int Find = 0;
    while(!Q.empty()){
        node now = Q.front();Q.pop();
       // cout<<now.x<<" "<<now.y<<" "<<now.dir<<" "<<now.step<<endl;
        if(now.x == ex && now.y == ey){
            printf("%d\n",now.step);Find  = 1; break;
        }
        node nt;
        for(int i=2;i<5;i++){
            if(now.dir == 0){
                if(i < 3){
                    node aa ,bb ,cc;
                    aa.x = now.x -1; aa.y =now.y; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x -2; bb.y =now.y; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x -3; cc.y =now.y; cc.step = now.step+1;cc.dir = now.dir;
                    if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 2; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                else if(i ==4){
                    nt.dir = 3; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                if(inborder(nt) && !vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
            else if(now.dir == 1){
                if(i < 3){
                     node aa ,bb ,cc;
                    aa.x = now.x +1; aa.y =now.y; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x +2; bb.y =now.y; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x +3; cc.y =now.y; cc.step = now.step+1;cc.dir = now.dir;
                    if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 3; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                 else if(i ==4){
                    nt.dir = 2; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
               if(inborder(nt) && !vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
            else if(now.dir == 2){
                 if(i < 3){
                     node aa ,bb ,cc;
                    aa.x = now.x; aa.y =now.y -1; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x; bb.y =now.y -2; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x; cc.y =now.y -3; cc.step = now.step+1;cc.dir = now.dir;
                   if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 1; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                else if(i ==4){
                    nt.dir = 0; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
               if(inborder(nt) && !vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
            else if(now.dir == 3){
                if(i < 3){
                     node aa ,bb ,cc;
                    aa.x = now.x; aa.y =now.y +1; aa.step = now.step+1;aa.dir = now.dir;
                    bb.x = now.x; bb.y =now.y +2; bb.step = now.step+1;bb.dir = now.dir;
                    cc.x = now.x; cc.y =now.y +3; cc.step = now.step+1;cc.dir = now.dir;
                    if(inborder(aa) &&  !vis[aa.x][aa.y][aa.dir]){
                        Q.push(aa);
                           vis[aa.x][aa.y][aa.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) &&  !vis[bb.x][bb.y][bb.dir]){
                        Q.push(bb);
                           vis[bb.x][bb.y][bb.dir] = 1;
                    }
                    if(inborder(aa) && inborder(bb) && inborder(cc) &&  !vis[cc.x][cc.y][cc.dir]){
                        Q.push(cc);
                           vis[cc.x][cc.y][cc.dir] = 1;
                    }
                    continue;
                }
                else if(i == 3){
                    nt.dir = 0; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                 else if(i ==4){
                    nt.dir = 1; nt.x = now.x; nt.y = now.y; nt.step = now.step + 1;
                }
                if(inborder(nt) &&!vis[nt.x][nt.y][nt.dir]){
                    Q.push(nt);
                    vis[nt.x][nt.y][nt.dir] = 1;
                }
            }
        }
    }
    if(!Find){
        printf("-1\n");
    }
}
int main(){
        while(scanf("%d%d",&n,&m)!=EOF){
        memset(G,0,sizeof(G));
        for(int i=1;i<=n;i++){
            for(int j=1;j<=m;j++)
                scanf("%d",&G[i][j]);
        }
        for(int i=1;i<=n;i++){
            for(int j=1;j<=m;j++)
                if(G[i][j] == 1){
                    G[i-1][j] = 1;
                    G[i-1][j-1] = 1;
                    G[i][j-1] = 1;
                }
        }
        char dd;
        memset(vis,0,sizeof(vis));
        scanf("%d%d%d%d %c",&sx,&sy,&ex,&ey,&dd);
        for(int i=0;i<4;i++){
            if(dd == dirr[i])
                dir = i;
        }
        vis[sx][sy][dir] = 1;
        bfs();
        }
    return 0 ;
}

代码略丑。。