Merge branch 'master' of git@codechina.csdn.net:coloreaglestdio/qtcpp_demo.git into master

# Conflicts:
#	floodfill_mdf/floodfill_mdf.cpp

README

@@ -12,6 +12,10 @@ cpp_threadpool
 	functional助力C++11实现高度可重用接口-线程池例子
 	https://goldenhawking.blog.csdn.net/article/details/51981905
 
+floodfill_mdf
+	作业讲评-二值矩阵避障最短路径算法
+	https://goldenhawking.blog.csdn.net/article/details/109411787
+
 nmcalc
 	一种基于C++STL库的回溯排列组合枚举器
 	https://goldenhawking.blog.csdn.net/article/details/80037669

floodfill_mdf/demowidget.cpp

+#include "demowidget.h"
+#include <QPaintEvent>
+#include <QPainter>
+#include <QPen>
+#include <QBrush>
+const int rows = 64;
+const int cols = 64;
+int
+		startx = rand() % cols,
+		starty = rand() % rows;
+int
+		endx = (startx + rand() % (cols-3) + 2) % cols,
+		endy = (starty + rand() % (rows-3) + 2) % rows;
+
+std::vector<int> cx,cy,idx,rx,ry,ridx;
+
+demoWidget::demoWidget(QWidget *parent) : QWidget(parent)
+{
+	resize(640,640);
+	for (int i=0;i<rows;++i)
+	{
+		std::vector<char> v(cols,1);
+		v_mat.push_back(std::move(v));
+	}
+}
+
+void demoWidget::paintEvent(QPaintEvent * evt)
+{
+	QPainter painter(this);
+	QPen pen (Qt::NoPen);
+	QBrush brush_valid(QColor(255,255,255));
+	QBrush brush_block(QColor(0,0,0));
+	QBrush brush_start(QColor(255,0,0));
+	QBrush brush_raw(QColor(0,128,0));
+	QBrush brush_end(QColor(0,0,255));
+	QPen pen_line (brush_start,2);
+	QPen pen_lineraw (brush_raw,3,Qt::DotLine);
+
+
+	painter.setPen(pen);
+	painter.setBrush(brush_valid);
+
+	QSize sz = size();
+	double dx = sz.width() * 1.0/(cols);
+	double dy = sz.height()* 1.0/(rows);
+	for (int i=0;i<rows;++i)
+	{
+		for (int j=0;j<cols;++j)
+		{
+			if (v_mat[i][j]==0)
+				painter.setBrush(brush_block);
+			else
+				painter.setBrush(brush_valid);
+			painter.drawRect(j * dx , i *dx,dx, dy);
+		}
+	}
+
+	painter.setBrush(brush_start);
+	painter.drawEllipse(startx * dx , starty *dx,dx, dy);
+	painter.setBrush(brush_end);
+	painter.drawEllipse(endx * dx , endy *dx,dx, dy);
+
+	if (ridx.size())
+	{
+		const int impsz = ridx.size();
+
+		painter.setPen(pen_lineraw);
+		for (int i=0;i<impsz-1;++i)
+		{
+			const int curx1 = rx[ridx[i]] * dx+ dx/2;
+			const int cury1 = ry[ridx[i]] * dy + dy/2;
+			const int curx2 = rx[ridx[i+1]] * dx + dx/2;
+			const int cury2 = ry[ridx[i+1]] * dy + dy/2;
+			painter.drawLine(curx1,cury1,curx2,cury2);
+		}
+	}
+
+	if (idx.size())
+	{
+		const int impsz = idx.size();
+
+		painter.setPen(pen_line);
+		for (int i=0;i<impsz-1;++i)
+		{
+			const int curx1 = cx[idx[i]] * dx+ dx/2;
+			const int cury1 = cy[idx[i]] * dy + dy/2;
+			const int curx2 = cx[idx[i+1]] * dx + dx/2;
+			const int cury2 = cy[idx[i+1]] * dy + dy/2;
+			painter.drawLine(curx1,cury1,curx2,cury2);
+		}
+	}
+
+
+	evt->accept();
+}
+
+void demoWidget::mousePressEvent(QMouseEvent * evt)
+{
+	v_mat.clear();
+	for (int i=0;i<rows;++i)
+	{
+		std::vector<char> v_row(cols,1);
+		v_mat.push_back(std::move(v_row));
+	}
+	for (int i=0;i<128;++i)
+	{
+		v_mat[rand()%rows][rand()%cols] = 0;
+	}
+
+	startx = rand() % cols;
+	starty = rand() % rows;
+
+	endx = (startx + rand() % (cols-3) + 2) % cols;
+	endy = (starty + rand() % (rows-3) + 2) % rows;
+
+	v_mat[starty][startx] = 1;
+	v_mat[endy][endx] = 1;
+
+
+	//找路径,不归并
+	min_distance_find(v_mat, startx,starty,  endx,endy,  &rx,&ry,&ridx,false);
+	//找路径,做归并
+	min_distance_find(v_mat, startx,starty,  endx,endy,  &cx,&cy,&idx,true);
+	update();
+
+}

floodfill_mdf/demowidget.h

+#ifndef DEMOWIDGET_H
+#define DEMOWIDGET_H
+
+#include <QWidget>
+#include <vector>
+#include "floodfill_mdf.h"
+class demoWidget : public QWidget
+{
+	Q_OBJECT
+public:
+	explicit demoWidget(QWidget *parent = nullptr);
+protected:
+	//0,1联通矩阵，0是障碍，1是可通区域
+	std::vector<std::vector<char> > v_mat;
+protected:
+	void paintEvent(QPaintEvent * evt) override;
+	void mousePressEvent(QMouseEvent * evt) override;
+};
+
+#endif // DEMOWIDGET_H

floodfill_mdf/floodfill_gui.pro

+######################################################################
+# Automatically generated by qmake (3.1) Sat Oct 31 14:03:29 2020
+######################################################################
+
+TEMPLATE = app
+TARGET = floodfill_gui
+INCLUDEPATH += .
+
+QT += core gui widgets
+
+# You can make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# Please consult the documentation of the deprecated API in order to know
+# how to port your code away from it.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+# Input
+SOURCES += floodfill_mdf.cpp \
+	demowidget.cpp \
+	gui_main.cpp
+
+HEADERS += \
+	demowidget.h \
+	floodfill_mdf.h

floodfill_mdf/floodfill_mdf.cpp

-#include <iostream>
-#include <vector>
+#include <iostream>
 #include <list>
 #include <set>
 #include <cstdlib>
 #include <cassert>
 #include <cstdio>
-int min_distance_find(
-		const std::vector<std::vector<char> >  & v_mat ,
-		const int startx,
-		const int starty,
-		const int endx,
-		const int endy,
-		std::vector<int>  *x,//着色点
-		std::vector<int>  *y,
-		std::vector<int>  *pidx//关键点
-		);
-
+#include <ctime>
+#include "floodfill_mdf.h"
+#ifndef QT_GUI_LIB
 int main(int /*argc*/, char * /*argv*/[])
 {
 	using namespace std;
@@ -24,13 +15,13 @@ int main(int /*argc*/, char * /*argv*/[])
 
 	//0,1联通矩阵，0是障碍，1是可通区域
 	vector<vector<char> > v_mat;
-	const int rows = 24, cols=32;
+	const int rows = 24, cols=39;
 	for (int i=0;i<rows;++i)
 	{
 		vector<char>  v_row;
 		v_row.resize(cols,1);
-		if (rand()%rows<3)
-		for (int j=0;j<3;++j)
+		if (rand()%100<30)
+		for (int j=0;j<4;++j)
 			v_row[rand()%cols] = 0;
 		v_mat.push_back(move(v_row));
 	}
@@ -80,7 +71,7 @@ int main(int /*argc*/, char * /*argv*/[])
 				else if (disp[i][j] >=2)
 					printf ("%02X",(unsigned int)(disp[i][j]-2) % 0xFFu);
 				else if (disp[i][j] == -1)
-					cout << ". ";
+					cout << "[]";
 				else if (disp[i][j] == -2)
 					cout << "SS";
 				else if (disp[i][j] == -3)
@@ -98,12 +89,21 @@ int main(int /*argc*/, char * /*argv*/[])
 
 
 
-	
+
 	return 0;
 }
+
+#endif
 /*!
- * 反向着色
- * */
+ * \brief mdf_rev_fill 反向搜索，从终点处找起点
+ * \param v_mat   障碍地形，1是平地，0是墙
+ * \param startx  开始位置x
+ * \param starty  开始位置y
+ * \param endx    结束位置x
+ * \param endy    结束位置y
+ * \param p_rev   保存搜索步长的v_mat等尺寸矩阵
+ * \return 能否找到起点
+ */
 bool mdf_rev_fill(
 		const std::vector<std::vector<char> >  & v_mat ,
 		const int startx,
@@ -165,7 +165,15 @@ bool mdf_rev_fill(
 	}//end while (currX.size() && !arrival)
 	return  arrival;
 }
-//最初路径
+/*!
+ * \brief mdf_path_find 前向搜索路径
+ * \param v_rev   反向寻找后生成的距离矩阵
+ * \param startx  起点x
+ * \param starty  起点y
+ * \param cx      存储路径坐标的x向量
+ * \param cy      存储路径坐标的y向量
+ * \return  是否成功搜索生成路径
+ */
 bool mdf_path_find(
 		std::vector<std::vector<unsigned int> > & v_rev,
 		const int startx,
@@ -216,7 +224,16 @@ bool mdf_path_find(
 	return  (v==0);
 }
 
-//路径合并
+/*!
+ * \brief min_dis_opt 归并路径缩短距离
+ * \param v_mat 障碍地形，1是平地，0是墙
+ * \param rx 非最优路径x（直接搜索出来的）
+ * \param ry 非最优路径y（直接搜索出来的）
+ * \param cx 较优路径x
+ * \param cy 较优路径y
+ * \param pidx 关键waypoint下表(相对于cx,cy)，连接两个下标的cx,cy的为直线。
+ * \return  优化后路径大小
+ */
 int min_dis_opt(
 		const std::vector<std::vector<char> >  & v_mat ,
 		const std::vector<int> & rx,
@@ -234,7 +251,7 @@ int min_dis_opt(
 	std::set<int> important ;
 
 
-	int test_begin = 0;
+	size_t test_begin = 0;
 	//本次最差的目标
 	int opt_tar = test_begin + 2;
 	important.insert(test_begin);
@@ -252,7 +269,7 @@ int min_dis_opt(
 			for (int i=0;i<maxp && good;++i)
 			{
 				//为不打擦边球，要求周围1格子也没有障碍才能优化。
-				for (int d = 0; d< 9 && good; ++d)
+				for (int d = 0; d< 5 && good; ++d)
 				{
 					const int rev_dirt[9][2] = {
 						{0,0},
@@ -282,7 +299,7 @@ int min_dis_opt(
 		{
 			important.insert(test_begin);
 			std::vector<int> newx, newy;
-			for (int i=0;i<test_begin;++i)
+			for (size_t i=0;i<test_begin;++i)
 			{
 				newx.push_back(lx[i]);
 				newy.push_back(ly[i]);
@@ -338,7 +355,19 @@ int min_dis_opt(
 	return cx->size();
 }
 
-
+/*!
+ * \brief min_distance_find 避障路径搜索函数
+ * \param v_mat  障碍地形，1是平地，0是墙
+ * \param startx 起点x
+ * \param starty 起点y
+ * \param endx   终点x
+ * \param endy   终点y
+ * \param x      路径x
+ * \param y      路径y
+ * \param pidx   关键waypoint下表(相对于cx,cy)，连接两个下标的cx,cy的为直线。
+ * \param join   是否做直线归并优化。
+ * \return cx大小
+ */
 int min_distance_find(
 		const std::vector<std::vector<char> >  & v_mat ,
 		const int startx,
@@ -347,18 +376,26 @@ int min_distance_find(
 		const int endy,
 		std::vector<int>  *x,
 		std::vector<int>  *y,
-		std::vector<int> * pidx
+		std::vector<int> * pidx,
+		bool join
 		)
 {
 	std::vector<std::vector<unsigned int> >  v_rev ;
-	
+
 	if (!mdf_rev_fill(v_mat,startx,starty,endx,endy, &v_rev))
 		return false;
 	std::vector<int> cx,cy;
-	
+
 	if (!mdf_path_find(v_rev,startx,starty,&cx,&cy))
 		return false;
-	
-	return min_dis_opt(v_mat,cx,cy,x,y,pidx);
-	
+	if (join)
+		return min_dis_opt(v_mat,cx,cy,x,y,pidx);
+
+	size_t sz = cx.size();
+	pidx->clear();
+	for (size_t i=0;i<sz;++i)
+		pidx->push_back(i);
+	*x = std::move(cx);
+	*y = std::move(cy);
+	return x->size();
 }

floodfill_mdf/floodfill_mdf.h

+#ifndef FLOODFILL_MDF_H
+#define FLOODFILL_MDF_H
+#include <vector>
+int min_distance_find(
+		const std::vector<std::vector<char> >  & v_mat ,
+		const int startx,
+		const int starty,
+		const int endx,
+		const int endy,
+		std::vector<int>  *x,//着色点
+		std::vector<int>  *y,
+		std::vector<int>  *pidx,//关键点
+		bool join = true
+		);
+#endif // FLOODFILL_MDF_H

floodfill_mdf/floodfill_mdf.pro

@@ -3,6 +3,7 @@
 ######################################################################
 
 TEMPLATE = app
+QT -= gui
 TARGET = floodfill_mdf
 INCLUDEPATH += .
 CONFIG += console
@@ -16,3 +17,6 @@ CONFIG += console
 
 # Input
 SOURCES += floodfill_mdf.cpp
+
+HEADERS += \
+	floodfill_mdf.h

floodfill_mdf/gui_main.cpp

+#include "floodfill_mdf.h"
+#include <QApplication>
+#include <QWidget>
+#include "demowidget.h"
+int main(int argc , char * argv[])
+{
+	QApplication app(argc,argv);
+
+	demoWidget wig;
+	wig.show();
+
+
+	return app.exec();
+}