def __init__(self):
self.list = []
count = 0
# 依次添加行人至self.list
for i in range(0, 15):
self.list.append(People("o" + str(count), 60, 60 + i * 40))
count = count + 1
self.list.append(People("o" + str(count), 100, 60 + i * 40))
count = count + 1
self.list.append(People("o" + str(count), 140, 60 + i * 40))
count = count + 1
# 在一开始就计算好各个位置的下一步方向向量，并存储到矩阵中，以节省算力
k = 5
self.matrix = [[0 for i in range(17)] for i in range(27)]
for i in range(0, 27):
for j in range(0, 17):
if i == 0: # 将障碍物的位置也设置对应的方向向量，以便在特殊情况撞墙后能及时调整回来
self.matrix[i][j] = (k, 0)
elif i == 26:
self.matrix[i][j] = (-1 * k, 0)
elif j == 0:
self.matrix[i][j] = (0, k)
elif j == 16:
self.matrix[i][j] = (0, -1 * k)
elif i == 10:
if (j == 4) or (j == 10):
self.matrix[i][j] = (-1 * k, -1 * k)
elif (j == 5) or (j == 11):
self.matrix[i][j] = (-1 * k, 0)
elif (j == 6) or (j == 12):
self.matrix[i][j] = (-1 * k, k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
elif i == 17:
if (j == 4) or (j == 10):
self.matrix[i][j] = (k, -1 * k)
elif (j == 5) or (j == 11):
self.matrix[i][j] = (k, 0)
elif (j == 6) or (j == 12):
self.matrix[i][j] = (k, k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
elif (j == 4) or (j == 10):
if (i > 10) and (i < 17):
self.matrix[i][j] = (0, -1 * k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
elif (j == 6) or (j == 12):
if (i > 10) and (i < 17):
self.matrix[i][j] = (0, k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
elif (i > 10) and (i < 17) and ((j == 5) or (j == 11)):
self.matrix[i][j] = (0, k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
self.matrix[26][4] = (1, 0)
def __init__(self):
self.list = []
count = 0
# 依次添加行人至self.list，三列行人，每列15人
for i in range(0, 15):
self.list.append(People("o" + str(count), 60,
60 + i * 40)) #id，横坐标，纵坐标
count = count + 1
self.list.append(People("o" + str(count), 100, 60 + i * 40))
count = count + 1
self.list.append(People("o" + str(count), 140, 60 + i * 40))
count = count + 1
# 在一开始就计算好各个位置的下一步方向向量，并存储到矩阵中，以节省算力
k = 5
self.matrix = [[0 for i in range(17)] for i in range(27)] #创建17*27的空矩阵
for i in range(0, 27):
for j in range(0, 17):
if i == 0: # 将障碍物的位置也设置对应的方向向量，以便在特殊情况撞墙后能及时调整回来
self.matrix[i][j] = (k, 0)
elif i == 26:
self.matrix[i][j] = (-1 * k, 0)
elif j == 0:
self.matrix[i][j] = (0, k)
elif j == 16:
self.matrix[i][j] = (0, -1 * k)
elif i == 10:
if (j == 4) or (j == 10):
self.matrix[i][j] = (-1 * k, -1 * k)
elif (j == 5) or (j == 11):
self.matrix[i][j] = (-1 * k, 0)
elif (j == 6) or (j == 12):
self.matrix[i][j] = (-1 * k, k)
else:
self.matrix[i][j] = AStar.next_loc(
i, j) #i为10时，如果没有障碍物，则方向向量为A*算法的下一步位置
elif i == 17:
if (j == 4) or (j == 10):
self.matrix[i][j] = (k, -1 * k)
elif (j == 5) or (j == 11):
self.matrix[i][j] = (k, 0)
elif (j == 6) or (j == 12):
self.matrix[i][j] = (k, k)
else:
self.matrix[i][j] = AStar.next_loc(
i, j) #i为17时，如果没有障碍物，则方向向量为A*算法的下一步位置
elif (j == 4) or (j == 10):
if (i > 10) and (i < 17): #障碍物的上边界
self.matrix[i][j] = (0, -1 * k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
elif (j == 6) or (j == 12):
if (i > 10) and (i < 17):
self.matrix[i][j] = (0, k) #障碍物的下边界
else:
self.matrix[i][j] = AStar.next_loc(i, j)
elif (i > 10) and (i < 17) and ((j == 5) or
(j == 11)): #障碍物的中间位置
self.matrix[i][j] = (0, k)
else:
self.matrix[i][j] = AStar.next_loc(i, j)
self.matrix[26][4] = (1, 0) #目标点的方向向量