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A* 寻路

master
修宁 6 months ago
parent
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2 changed files with 1322 additions and 1710 deletions
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  1. 30
      src/example/example1.js
  2. 442
      src/example/example1.json

30
src/example/example1.js
View File

@ -206,7 +206,7 @@ export default {
tf: [[2.7, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['2', '38', '36'], out: ['2', '38', '36'], center: [], in: ['2', '38', '36'], out: ['2', '38', '36'], center: [],
agvRotation: ['cl2', 'clx'] allowAgvRotation: ['cl2', 'clx']
} }
}, },
{ {
@ -219,7 +219,7 @@ export default {
tf: [[2.7, 0, 3.932], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 3.932], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['2', '4'], out: ['2', '4'], center: [], in: ['2', '4'], out: ['2', '4'], center: [],
linkStore: [{ item: 'rack1', bay: 3, level: 2, cell: 0 }] linkStore: [{ item: 'rack1', bay: 3, level: 2, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -232,7 +232,7 @@ export default {
tf: [[2.7, 0, 5.232], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 5.232], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['4', '6'], out: ['4', '6'], center: [], in: ['4', '6'], out: ['4', '6'], center: [],
linkStore: [{ item: 'rack1', bay: 2, level: 2, cell: 0 }] linkStore: [{ item: 'rack1', bay: 2, level: 2, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -245,7 +245,7 @@ export default {
tf: [[2.7, 0, 6.532], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 6.532], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['6', '8'], out: ['6', '8'], center: [], in: ['6', '8'], out: ['6', '8'], center: [],
linkStore: [{ item: 'rack1', bay: 1, level: 1, cell: 0 }] linkStore: [{ item: 'rack1', bay: 1, level: 1, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -253,7 +253,7 @@ export default {
tf: [[2.7, 0, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['7', 'charger1'], out: ['7', 'charger1'], center: [], in: ['7', 'charger1'], out: ['7', 'charger1'], center: [],
linkStore: [{ item: 'rack1', bay: 0, level: 2, cell: 0 }] linkStore: [{ item: 'rack1', bay: 0, level: 2, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -266,7 +266,7 @@ export default {
tf: [[5.65, 0, 2.865], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 2.865], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['17', '21'], out: ['17', '21'], center: [], in: ['17', '21'], out: ['17', '21'], center: [],
linkStore: [{ item: '54', bay: 0, level: 0, cell: 0 }] linkStore: [{ item: '54', bay: 0, level: 0, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -274,7 +274,7 @@ export default {
tf: [[5.65, 0, 3.932], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 3.932], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['20', '22'], out: ['20', '22'], center: [], in: ['20', '22'], out: ['20', '22'], center: [],
linkStore: [{ item: 'rack1', bay: 3, level: 1, cell: 0 }] linkStore: [{ item: 'rack1', bay: 3, level: 1, cell: 0, direction: 'left' }]
} }
}, },
{ {
@ -282,7 +282,7 @@ export default {
tf: [[5.65, 0, 4.348], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 4.348], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['21', '23'], out: ['21', '23'], center: [], in: ['21', '23'], out: ['21', '23'], center: [],
linkStore: [{ item: '56', bay: 0, level: 0, cell: 0 }] linkStore: [{ item: '56', bay: 0, level: 0, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -290,8 +290,8 @@ export default {
tf: [[5.65, 0, 5.232], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 5.232], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['22', '24'], out: ['22', '24'], center: [], in: ['22', '24'], out: ['22', '24'], center: [],
agvRotation: ['cl2', 'clx'], allowAgvRotation: ['cl2', 'clx'],
linkStore: [{ item: 'rack1', bay: 2, level: 1, cell: 0 }] linkStore: [{ item: 'rack1', bay: 2, level: 1, cell: 0, direction: 'left' }]
} }
}, },
{ {
@ -304,7 +304,7 @@ export default {
tf: [[5.65, 0, 6.532], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 6.532], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['24', '26'], out: ['24', '26'], center: [], in: ['24', '26'], out: ['24', '26'], center: [],
linkStore: [{ item: 'rack1', bay: 1, level: 1, cell: 0 }] linkStore: [{ item: 'rack1', bay: 1, level: 1, cell: 0, direction: 'left' }]
} }
}, },
{ {
@ -312,7 +312,7 @@ export default {
tf: [[5.65, 0, 6.744], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 6.744], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['25', '27'], out: ['25', '27'], center: [], in: ['25', '27'], out: ['25', '27'], center: [],
linkStore: [{ item: '58', bay: 0, level: 0, cell: 0 }] linkStore: [{ item: '58', bay: 0, level: 0, cell: 0, direction: 'right' }]
} }
}, },
{ {
@ -320,7 +320,7 @@ export default {
tf: [[5.65, 0, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['26', 'charger2'], out: ['26', 'charger2'], center: [], in: ['26', 'charger2'], out: ['26', 'charger2'], center: [],
linkStore: [{ item: 'rack1', bay: 0, level: 1, cell: 0 }] linkStore: [{ item: 'rack1', bay: 0, level: 1, cell: 0, direction: 'left' }]
} }
}, },
{ {
@ -328,7 +328,7 @@ export default {
tf: [[3.9, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[3.9, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['1'], out: ['1'], center: [], in: ['1'], out: ['1'], center: [],
linkStore: [{ item: '47', bay: 0, level: 0, cell: 0 }] linkStore: [{ item: '47', bay: 0, level: 0, cell: 0, direction: 'up' }]
} }
}, },
{ {
@ -336,7 +336,7 @@ export default {
tf: [[1.5, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[1.5, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { dt: {
in: ['1'], out: ['1'], center: [], in: ['1'], out: ['1'], center: [],
linkStore: [{ item: '49', bay: 0, level: 0, cell: 0 }] linkStore: [{ item: '49', bay: 0, level: 0, cell: 0, direction: 'up' }]
} }
}, },
{ {

442
src/example/example1.json
View File

@ -1,7 +1,4 @@
{ [
"catalogCode": "f2",
"t": "floor",
"items": [
{ {
"id": "rack1", "id": "rack1",
"t": "rack", "t": "rack",
@ -189,7 +186,8 @@
"item": "rack1", "item": "rack1",
"bay": 3, "bay": 3,
"level": 2, "level": 2,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -269,7 +267,8 @@
"item": "rack1", "item": "rack1",
"bay": 2, "bay": 2,
"level": 2, "level": 2,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -349,7 +348,8 @@
"item": "rack1", "item": "rack1",
"bay": 1, "bay": 1,
"level": 1, "level": 1,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -393,7 +393,8 @@
"item": "rack1", "item": "rack1",
"bay": 0, "bay": 0,
"level": 2, "level": 2,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -471,7 +472,8 @@
"item": "54", "item": "54",
"bay": 0, "bay": 0,
"level": 0, "level": 0,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -515,7 +517,8 @@
"item": "rack1", "item": "rack1",
"bay": 3, "bay": 3,
"level": 1, "level": 1,
"cell": 0 "cell": 0,
"direction": "left"
} }
] ]
} }
@ -559,7 +562,8 @@
"item": "56", "item": "56",
"bay": 0, "bay": 0,
"level": 0, "level": 0,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -607,7 +611,8 @@
"item": "rack1", "item": "rack1",
"bay": 2, "bay": 2,
"level": 1, "level": 1,
"cell": 0 "cell": 0,
"direction": "left"
} }
] ]
} }
@ -687,7 +692,8 @@
"item": "rack1", "item": "rack1",
"bay": 1, "bay": 1,
"level": 1, "level": 1,
"cell": 0 "cell": 0,
"direction": "left"
} }
] ]
} }
@ -731,7 +737,8 @@
"item": "58", "item": "58",
"bay": 0, "bay": 0,
"level": 0, "level": 0,
"cell": 0 "cell": 0,
"direction": "right"
} }
] ]
} }
@ -775,7 +782,8 @@
"item": "rack1", "item": "rack1",
"bay": 0, "bay": 0,
"level": 1, "level": 1,
"cell": 0 "cell": 0,
"direction": "left"
} }
] ]
} }
@ -817,7 +825,8 @@
"item": "47", "item": "47",
"bay": 0, "bay": 0,
"level": 0, "level": 0,
"cell": 0 "cell": 0,
"direction": "up"
} }
] ]
} }
@ -859,7 +868,8 @@
"item": "49", "item": "49",
"bay": 0, "bay": 0,
"level": 0, "level": 0,
"cell": 0 "cell": 0,
"direction": "up"
} }
] ]
} }
@ -1127,403 +1137,5 @@
"center": [], "center": [],
"isCharger": true "isCharger": true
} }
},
{
"id": "pallet1122",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "49",
"bay": 0,
"level": 0,
"cell": 0
}
}
},
{
"id": "pallet1123",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "54",
"bay": 0,
"level": 0,
"cell": 0
}
}
},
{
"id": "pallet1124",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 0,
"level": 1,
"cell": 0
}
}
},
{
"id": "pallet1125",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 0,
"level": 2,
"cell": 0
}
} }
},
{
"id": "pallet1126",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
] ]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 2,
"level": 1,
"cell": 0
}
}
},
{
"id": "pallet1127",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 2,
"level": 2,
"cell": 0
}
}
},
{
"id": "pallet1128",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 3,
"level": 1,
"cell": 0
}
}
},
{
"id": "pallet1129",
"t": "pallet",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
0.15,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 3,
"level": 2,
"cell": 0
}
}
},
{
"id": "carton0",
"t": "carton",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
1,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 0,
"level": 0,
"cell": 0
}
}
},
{
"id": "carton1",
"t": "carton",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
1,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 1,
"level": 0,
"cell": 0
}
}
},
{
"id": "carton2",
"t": "carton",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
1,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 2,
"level": 0,
"cell": 0
}
}
},
{
"id": "carton3",
"t": "carton",
"v": true,
"tf": [
[
0,
0,
0
],
[
0,
0,
0
],
[
1.2,
1,
1
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"storeAt": {
"item": "rack1",
"bay": 3,
"level": 0,
"cell": 0
}
}
}
]
}

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