广度优先遍历,是一种非启发式、不用预处理的寻路算法。通常会将整个图全部遍历,意图寻找终点。从起点开始,每次所有符合的点全部遍历,类似于扩散的样子。
一般情况,广度优先遍历算法都是基于队列结构,先进先出的遍历所有节点。
该寻路算法,通常先将起点加入队列结构,然后将该点周边符合要求(未加入队列结构并且可以到达的点)的点全部再次加入队列结构中,意图下一次遍历。一直循环该方法。直至全部遍历或者找到终点。
代码:
///
//广度遍历寻路算法
struct stInfo
{
int iPosx = -1;
int iPosy = -1;
int iFPosx = -1;
int iFPosy = -1;
};
stInfo buildStInfo(int iPosx, int iPosy, int iFPosx = -1, int iFPosy = -1)
{
stInfo stTmp;
stTmp.iPosx = iPosx;
stTmp.iPosy = iPosy;
stTmp.iFPosx = iFPosx;
stTmp.iFPosy = iFPosy;
cout << "posx:" << iPosx << " posy:" << iPosy << " fposx:" << iFPosx << " fposy:" << iFPosy << endl;
return stTmp;
}
bool isLegalPos(int **pstAr, int iPosx, int iPosy)
{
//cout << "isLegalPos " << iPosx << " " << iPosy << endl;
return (iPosx >= 0 && iPosx < 5 && iPosy >= 0 && iPosy < 5) && (pstAr[iPosx][iPosy] != 1);
}
bool isInMapList(std::vector<stInfo> &mapList, int iPosx, int iPosy)
{
for (auto &it : mapList)
{
if (it.iPosx == iPosx && it.iPosy == iPosy)
return true;
}
return false;
}
void insertListAblePos(std::vector<stInfo> &vecList, std::pair<int, int> &posNow, std::pair<int, int> &posEnd, int **pstAr)
{
if (isLegalPos(pstAr, posNow.first - 1, posNow.second) && !isInMapList(vecList, posNow.first-1, posNow.second))
{
stInfo stTmp = buildStInfo(posNow.first-1, posNow.second, posNow.first, posNow.second);
vecList.push_back(stTmp);
}
if (isLegalPos(pstAr, posNow.first, posNow.second-1) && !isInMapList(vecList, posNow.first, posNow.second-1))
{
stInfo stTmp = buildStInfo(posNow.first, posNow.second-1, posNow.first, posNow.second);
vecList.push_back(stTmp);
}
if (isLegalPos(pstAr, posNow.first + 1, posNow.second) && !isInMapList(vecList, posNow.first + 1, posNow.second))
{
stInfo stTmp = buildStInfo(posNow.first + 1, posNow.second, posNow.first, posNow.second);
vecList.push_back(stTmp);
}
if (isLegalPos(pstAr, posNow.first, posNow.second+1) && !isInMapList(vecList, posNow.first, posNow.second+1))
{
stInfo stTmp = buildStInfo(posNow.first, posNow.second+1, posNow.first, posNow.second);
vecList.push_back(stTmp);
}
}
void printRoad(std::vector<stInfo> &mapList, std::pair<int, int> posEnd)
{
while (!mapList.empty())
{
cout << posEnd.first << " " << posEnd.second << " -> ";
for(auto it = mapList.begin(); it != mapList.end(); ++it)
{
if (it->iPosx == posEnd.first && it->iPosy == posEnd.second)
{
posEnd = std::make_pair(it->iFPosx, it->iFPosy);
break;
}
}
if (posEnd.first == -1 && posEnd.second == -1)
break;
}
}
void findRoadBFS(int **pstAr, std::pair<int,int> &posBegin, std::pair<int,int> &posEnd)
{
std::vector<stInfo> vecList;
std::pair<int, int> posNow = posBegin;
stInfo stTmp = buildStInfo(posNow.first, posNow.second);
vecList.push_back(stTmp);
int iPosMove = 0;
while (posNow != posEnd)
{
insertListAblePos(vecList, posNow, posEnd, pstAr);
if (vecList.size() <= iPosMove)
break;
stInfo stTmp = vecList[iPosMove];
posNow = std::make_pair(stTmp.iPosx, stTmp.iPosy);
iPosMove++;
}
if (posNow == posEnd)
{
cout << "find success" << endl;
printRoad(vecList, posEnd);
}
else
{
cout << "find error" << endl;
}
}
int main()
{
int **pstAr = new int *[5];
for (int i = 0; i < 5; ++i)
pstAr[i] = new int[5];
for (int i = 0; i < 5; ++i)
for (int j = 0; j < 5; ++j)
pstAr[i][j] = 0;
pstAr[1][2] = 1;
pstAr[2][2] = 1;
pstAr[3][2] = 1;
pstAr[0][2] = 1;
pstAr[4][2] = 1;
pstAr[1][1] = 1;
pstAr[3][0] = 1;
findRoadBFS(pstAr, std::make_pair(1,0), std::make_pair(4,4));
return 0;
}