图解
代码
比较接口
package com.hyh.java_algorithm;
public interface MyCompare {
public boolean isLarger(MyCompare m2);
public boolean isSmaller(MyCompare m2);
public boolean isEqual(MyCompare m2);
}
最小堆
package com.hyh.java_algorithm;
/**
* 最小堆
* @author hyh
* 2015-5-7上午11:08:20
*/
public class MinHeap<E extends MyCompare> {
private int size;
private Object[] element;
public MinHeap(int maxSize){
size = 0;
element = new Object[maxSize];
}
public MinHeap(){
this(10);
}
/**
* 元素入堆
* @param e
*/
public void append(E e){
ensureCapacity(size+1);
element[size++] = e;///put the element to the end of the heap
adjustUp(); //adjust the heap to minHeap
}
/**
* 取出堆顶元素(最小元素)
* @return
*/
@SuppressWarnings("unchecked")
public E poll(){
if(isEmpty()){
return null;
}
E min = (E) element[0];
element[0] = element[size-1];///replace the min element with the last element
element[size-1] = null ;///let gc do its work
size--;
adjustDown();///adjust the heap to minHeap
return min;
}
/**
* 查看堆顶元素(最小元素)
* @return
*/
@SuppressWarnings("unchecked")
public E peek(){
if(isEmpty()){
return null;
}
return (E) element[0];
}
/**
* 是否为空堆
* @return
*/
public boolean isEmpty(){
return size == 0 ;
}
/**
* 确保容量空间足够
* @param minCapacity
*/
private void ensureCapacity(int minCapacity){
int oldCapacity = element.length;
if(minCapacity > oldCapacity){
int newCapacity = (oldCapacity*3)/2+1;///每次扩容至1.5倍
Object[] copy = new Object[newCapacity];
///调用本地C方法进行数组复制
System.arraycopy(element, 0, copy, 0, element.length);
element = copy;
}
}
/**
* 向上调整为堆,将小值往上调
*/
@SuppressWarnings("unchecked")
private void adjustUp(){
E temp = (E) element[size-1]; ///get the last element
int parent = size - 1;
while(parent>0&&((E)element[(size - 1)/2]).isLarger(temp)){
///if smaller than it parent
element[parent] = element[(parent - 1)/2];
parent = (parent - 1)/2;
}
element[parent] = temp;
}
/**
* 向下调整为堆
*/
@SuppressWarnings("unchecked")
private void adjustDown(){
E temp = (E) element[0]; ///get the first element
int child = 1;
while(child<size){
E left = (E) element[child];
E right = (E) element[child+1];///这里的child+1不会越界(想想为什么)
if(right!=null&&left.isLarger(right)){
child++;
}
if(temp.isSmaller((E)element[child])){
break; 如果比两个孩子中较小者都还小,则结束
}
element[(child-1)/2] = element[child]; ///assign the smaller to its parent
child = child*2 + 1;
}
element[(child-1)/2] = temp;
}
}
比较对象(格子)
package com.hyh.java_algorithm;
/**
* pojo ,格子
* <pre> F = G + H
* G 表示从起点 A 移动到网格上指定方格的移动耗费 (可沿斜方向移动,斜方向的代价为对角线长度)
* H 表示从指定的方格移动到终点 B 的预计耗费 (H 有很多计算方法, 这里我们设定只可以上下左右移动).</pre>
* @author hyh
*
*/
public class Grid implements MyCompare{
private double F;
private double H;
private double G;
private int i ;
private int j;
private Grid parent; ///该格子的父格子
/**
* pojo ,格子
* @param F F = G + H
* @param G 表示从起点 A 移动到网格上指定方格的移动耗费 (可沿斜方向移动,斜方向的代价为对角线长度)
* @param H 表示从指定的方格移动到终点 B 的预计耗费 (H 有很多计算方法, 这里我们设定只可以上下左右移动).
* @param i 纵坐标i
* @param j 横坐标j
* @param parent 父结点
*/
public Grid(double F,double G,double H,int i,int j,Grid parent){
this.F = F;
this.G = G;
this.H = H;
this.i = i;
this.j = j;
this.parent = parent;
}
public Grid(){}
public Grid getParent() {
return parent;
}
public void setParent(Grid parent) {
this.parent = parent;
}
public int getI() {
return i;
}
public int getJ() {
return j;
}
public void setI(int i) {
this.i = i;
}
public void setJ(int j) {
this.j = j;
}
/**
* 经过当前点到终点B的总耗费 期望值
* @return
*/
public double getF() {
return F;
}
/**
* H 表示从指定的方格移动到终点 B 的预计耗费 (H 有很多计算方法, 这里我们设定只可以上下左右移动)
* @return
*/
public double getH() {
return H;
}
/**
* 表示从起点 A 移动到当前网格上的移动耗费 (可沿斜方向移动,斜方向的代价为对角线长度)
* @return
*/
public double getG() {
return G;
}
public void setF(double f) {
F = f;
}
public void setH(double h) {
H = h;
}
public void setG(double g) {
G = g;
}
@Override
public boolean isLarger(MyCompare m2) {
// TODO Auto-generated method stub
return this.F>((Grid)m2).getF();
}
@Override
public boolean isSmaller(MyCompare m2) {
// TODO Auto-generated method stub
return this.F<((Grid)m2).getF();
}
@Override
public boolean isEqual(MyCompare m2) {
// TODO Auto-generated method stub
return this.F==((Grid)m2).getF();
}
}
A*寻路算法
package com.hyh.java_algorithm;
/**
* A*寻路算法
* <pre>
* 思路: 每次取期望值最小的位置作为下一步要走的位置,F = G + H
* G 表示从起点 A 移动到网格上指定方格的移动耗费 (可沿斜方向移动,斜方向的代价为对角线长度).
* H 表示从指定的方格移动到终点 B 的预计耗费 (H 有很多计算方法, 这里我们设定只可以上下左右移动).
*
* 此处用一个最小堆来记录开启列表中的格子,每个格子有一个指向父格子的指针,以此记录路劲 </pre>
* @author hyh
*
*/
public class AStar {
private static MinHeap<Grid> open ;//= new MinHeap<Grid>();
// private static MTree close ;//= new MTree();
private Grid last; //记录最后一个格子
private final String obstacle = "1";//障碍物标记值
private String end = "e"; 目标标记值
private String start = "s";开始标记值
//目标坐标
private int end_i = -1;
private int end_j = -1;
//开始目标
private int start_i = -1;
private int start_j = -1;
/**
* 初始化操作
* @param boxs
*/
public void init(String[][] boxs){
for(int i=0;i<boxs.length;i++){
for(int j=0;j<boxs[0].length;j++){
if(boxs[i][j].equals(start)){
start_i = i;
start_j = j;
}
if(boxs[i][j].equals(end)){
end_i = i;
end_j = j;
}
}
}
Grid sGrid = new Grid(0, 0, 0, start_i, start_j, null);
open = new MinHeap<Grid>();
open.append(sGrid);///、将开始位置加入开集
}
/**
* 开始搜索
*/
public void search(String[][] boxs){
int height = boxs.length;
int width = boxs[0].length;
while(open.peek()!=null){//对开集进行遍历,直到找到目标或者找不到通路
Grid g = open.poll();
int i = g.getI();
int j = g.getJ();
double pre_G = g.getG();///已耗费
for(int h=-1;h<=1;h++){
for(int w=-1;w<=1;w++){
int next_i = i + h; ///下一个将加入open 集的格子的i
int next_j = j + w;///下一个将加入open 集的格子的j
if(next_i>=0 && next_i<=height-1 && next_j>=0 && next_j<=width-1){
数组不越界,则进行计算
if(boxs[next_i][next_j].equals(obstacle) || boxs[next_i][next_j].equals("-1") ||(h==0&&w==0)){
//如果该格子是障碍,或者格子本身,跳过
continue;
}
计算该点到终点的最短路劲
double H = Math.abs(end_i - next_i) + Math.abs(end_j - next_j) ;
if(H<1){
///找到目标,记录并结束
last = new Grid(0, pre_G, 0, next_i, next_j,g); ;
return ;
}
如果是对角线则加1.4,否则加1
double G = Math.sqrt((next_i-i)*(next_i-i)+(next_j-j)*(next_j-j))>1 ? pre_G+1.4 : pre_G+1;
//生成新格子
Grid temp = new Grid(H+G, G, H, next_i, next_j,g);
加入open集
open.append(temp);
boxs[i][j] = "-1";///表示此处已经计算过了
}
}
}
last = g;
}
}
/**
* 打印路劲
*/
public void printPath(){
if(end_i!=last.getI()||end_j!=last.getJ()){
System.out.println("无法到达终点!");
return ;
}
System.out.println("路劲逆序为:");
while(true){
System.out.print("("+last.getI()+","+last.getJ()+")");
last = last.getParent();
if(last==null){
break;
}
System.out.print(" <———");
}
}
/**
* @param args
*/
public static void main(String[] args) {
// TODO Auto-generated method stub
String[][] boxs = {
{"0","0","1","0","0"},
{"0","0","1","e","0"},
{"0","0","1","1","0"},
{"0","0","0","1","0"},
{"s","0","1","0","0"},
};
AStar star = new AStar();
star.init(boxs);
star.search(boxs);
star.printPath();
}
}