题意:
给n个点,每个点有坐标(x,y),有个robot要从1走到n,求最短路径长度,所求最短路中每段路径长度不能超过R,而且要考虑每次转向的时间,这个时间是每转1度需要1的路径长度。
思路:
spfa算法求最短路,这题描述距离起点的距离函数dis一维不够用,故升到二维,dis[n][m]表示到点n,上一个点是m的最短路径长度,相应地两点之间的距离g[x][y]升到3三维,g[x][y][m]表示x之前经过点是m,从x到y的的距离。
代码:
//poj 3072
//sepNINE
#include <iostream>
#include <cmath>
#include <queue>
const double pi=acos(-1.0);
const int maxN=32;
const double inf=100000;
const double eps=1e-8;
using namespace std;
struct Point{
double x,y;
}pnt[maxN];
struct Node{
int ids,dir;
};
int n;
double g[maxN][maxN][maxN];
double dis[maxN][maxN];
int inq[maxN][maxN];
int dblcmp(double x)
{
if(fabs(x)<eps) return 0;
return x>0?1:-1;
}
double dist(Point a, Point b)
{
double sum=(a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y);
return sqrt(sum);
}
double rotate(int i, int k, int j)
{
if(i==j)
return 0;
if(i==k||j==k)
return inf;
double x1=pnt[k].x-pnt[i].x;
double y1=pnt[k].y-pnt[i].y;
double x2=pnt[j].x-pnt[i].x;
double y2=pnt[j].y-pnt[i].y;
x1=-x1;y1=-y1;
double deta=atan2(y2,x2)-atan2(y1,x1);
if(deta<0) deta+=2*pi;
return min(deta,2*pi-deta)*180/pi;
}
void spfa()
{
queue<Node> Q;
inq[1][0]=1;
dis[1][0]=0;
Node a;
a.ids=1;
a.dir=0;
Q.push(a);
while(!Q.empty()){
Node node=Q.front();
Q.pop();
int u=node.ids,dir=node.dir;
for(int v=1; v<=n; ++v){
if(dblcmp(g[u][v][dir]-inf)<0&&dis[v][u]>dis[u][dir]+g[u][v][dir]){
dis[v][u]=dis[u][dir]+g[u][v][dir];
if(inq[v][u]==0){
Node p;
p.ids=v;
p.dir=u;
inq[v][u]=1;
Q.push(p);
}
}
}
}
}
int main()
{
double R;
while(scanf("%lf%d", &R, &n)==2&&n!=-1){
int i,j,k;
for(i=1; i<=n; ++i)
scanf("%lf%lf", &pnt[i].x, &pnt[i].y);
pnt[0].x=2*pnt[1].x-pnt[n].x;
pnt[0].y=2*pnt[1].y-pnt[n].y;
memset(inq, 0, sizeof(inq));
for(i=0; i<=n; ++i)
for(j=0; j<=n; ++j)
dis[i][j]=inf;
for(i=1; i<=n; ++i)
for(j=1; j<=n; ++j)
{
double d=dist(pnt[i], pnt[j]);
for(k=0; k<=n; ++k){
if(dblcmp(d-R)>0)
g[i][j][k]=inf;
else
g[i][j][k]=d+rotate(i,k,j);
}
}
spfa();
double ans=inf;
for(int i=0;i<=n;++i)
ans=min(ans,dis[n][i]);
if(dblcmp(inf-ans)==0)
printf("impossible\n");
else
printf("%d\n",(int)(ans+0.5));
}
}