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A* 寻路

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修宁 6 months ago
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  1. 420
      src/example/example1.js
  2. 2612
      src/example/example1.json

420
src/example/example1.js
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@ -174,217 +174,217 @@ export default {
tf: [[0, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]], tf: [[0, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]],
dt: { in: [], out: [], center: ['m3', 'm1'] } dt: { in: [], out: [], center: ['m3', 'm1'] }
}, },
{ {
id: 'rack1', id: 'rack1',
t: 'rack', t: 'rack',
v: true, v: true,
tf: [[4.196, 0, 5.882], [0, 90, 0], [0.1, 0.1, 1]], tf: [[4.196, 0, 5.882], [0, 90, 0], [0.1, 0.1, 1]],
dt: { dt: {
rackDepth: 1, rackDepth: 1,
// rackWidth: 5.1, // rackWidth: 5.1,
// rackHeight: 4.2, // rackHeight: 4.2,
bottomBarHeight: 0.2, bottomBarHeight: 0.2,
bottomLinkHeight: 0.2, bottomLinkHeight: 0.2,
topLinkDistance: 0.2, topLinkDistance: 0.2,
levelCount: 3, levelCount: 3,
bayCount: 4, bayCount: 4,
hideFloor: false, hideFloor: false,
extendColumns: true, extendColumns: true,
columnSpacing: 1, columnSpacing: 1,
bays: [ bays: [
{ bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] }, { bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] },
{ bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] }, { bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] },
{ bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] }, { bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] },
{ bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] }], { bayWidth: 1.275, levelHeight: [1.4, 1.4, 1.4] }],
center: [], center: [],
in: [], in: [],
out: [] out: []
} }
}, },
{ {
id: '1', t: 'way', v: true, logicX: 11, logicY: 10, logicZ: 1, id: '1', t: 'way', v: true, logicX: 11, logicY: 10, logicZ: 1,
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']
} }
}, },
{ {
id: '2', t: 'way', v: true, logicX: 11, logicY: 11, logicZ: 1, id: '2', t: 'way', v: true, logicX: 11, logicY: 11, logicZ: 1,
tf: [[2.7, 0, 2.832], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 2.832], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['1', '3'], out: ['1', '3'], center: [] } dt: { in: ['1', '3'], out: ['1', '3'], center: [] }
}, },
{ {
id: '3', t: 'way', v: true, logicX: 11, logicY: 13, logicZ: 1, id: '3', t: 'way', v: true, logicX: 11, logicY: 13, logicZ: 1,
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' }]
} }
}, },
{ {
id: '4', t: 'way', v: true, logicX: 11, logicY: 15, logicZ: 1, id: '4', t: 'way', v: true, logicX: 11, logicY: 15, logicZ: 1,
tf: [[2.7, 0, 4.582], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 4.582], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['3', '5'], out: ['3', '5'], center: [] } dt: { in: ['3', '5'], out: ['3', '5'], center: [] }
}, },
{ {
id: '5', t: 'way', v: true, logicX: 11, logicY: 16, logicZ: 1, id: '5', t: 'way', v: true, logicX: 11, logicY: 16, logicZ: 1,
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' }]
} }
}, },
{ {
id: '6', t: 'way', v: true, logicX: 11, logicY: 17, logicZ: 1, id: '6', t: 'way', v: true, logicX: 11, logicY: 17, logicZ: 1,
tf: [[2.7, 0, 5.882], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[2.7, 0, 5.882], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['5', '7'], out: ['5', '7'], center: [] } dt: { in: ['5', '7'], out: ['5', '7'], center: [] }
}, },
{ {
id: '7', t: 'way', v: true, logicX: 11, logicY: 18, logicZ: 1, id: '7', t: 'way', v: true, logicX: 11, logicY: 18, logicZ: 1,
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' }]
} }
}, },
{ {
id: '8', t: 'way', v: true, logicX: 11, logicY: 20, logicZ: 1, id: '8', t: 'way', v: true, logicX: 11, logicY: 20, logicZ: 1,
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' }]
} }
}, },
{ {
id: '17', t: 'way', v: true, logicX: 13, logicY: 10, logicZ: 1, id: '17', t: 'way', v: true, logicX: 13, logicY: 10, logicZ: 1,
tf: [[5.65, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['20'], out: ['20'], center: [] } dt: { in: ['20'], out: ['20'], center: [] }
}, },
{ {
id: '20', t: 'way', v: true, logicX: 13, logicY: 12, logicZ: 1, id: '20', t: 'way', v: true, logicX: 13, logicY: 12, logicZ: 1,
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' }]
} }
}, },
{ {
id: '21', t: 'way', v: true, logicX: 13, logicY: 13, logicZ: 1, id: '21', t: 'way', v: true, logicX: 13, logicY: 13, logicZ: 1,
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' }]
} }
}, },
{ {
id: '22', t: 'way', v: true, logicX: 13, logicY: 14, logicZ: 1, id: '22', t: 'way', v: true, logicX: 13, logicY: 14, logicZ: 1,
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' }]
} }
}, },
{ {
id: '23', t: 'way', v: true, logicX: 13, logicY: 16, logicZ: 1, id: '23', t: 'way', v: true, logicX: 13, logicY: 16, logicZ: 1,
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' }]
} }
}, },
{ {
id: '24', t: 'way', v: true, logicX: 13, logicY: 17, logicZ: 1, id: '24', t: 'way', v: true, logicX: 13, logicY: 17, logicZ: 1,
tf: [[5.65, 0, 5.882], [90, 0, 0], [0.25, 0.25, 0.1]], tf: [[5.65, 0, 5.882], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['23', '25'], out: ['23', '25'], center: [] } dt: { in: ['23', '25'], out: ['23', '25'], center: [] }
}, },
{ {
id: '25', t: 'way', v: true, logicX: 13, logicY: 18, logicZ: 1, id: '25', t: 'way', v: true, logicX: 13, logicY: 18, logicZ: 1,
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' }]
} }
}, },
{ {
id: '26', t: 'way', v: true, logicX: 13, logicY: 19, logicZ: 1, id: '26', t: 'way', v: true, logicX: 13, logicY: 19, logicZ: 1,
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' }]
} }
}, },
{ {
id: '27', t: 'way', v: true, logicX: 13, logicY: 20, logicZ: 1, id: '27', t: 'way', v: true, logicX: 13, logicY: 20, logicZ: 1,
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' }]
} }
}, },
{ {
id: '36', t: 'way', v: true, logicX: 12, logicY: 10, logicZ: 1, id: '36', t: 'way', v: true, logicX: 12, logicY: 10, logicZ: 1,
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' }]
} }
}, },
{ {
id: '38', t: 'way', v: true, logicX: 10, logicY: 10, logicZ: 1, id: '38', t: 'way', v: true, logicX: 10, logicY: 10, logicZ: 1,
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' }]
} }
}, },
{ {
id: '47', t: 'gstore', v: true, id: '47', t: 'gstore', v: true,
tf: [[3.9, 0, 0.63], [0, 90, 0], [1, 0.01, 1]], tf: [[3.9, 0, 0.63], [0, 90, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 } dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
}, },
{ {
id: '49', t: 'gstore', v: true, id: '49', t: 'gstore', v: true,
tf: [[1.5, 0, 0.63], [0, 90, 0], [1, 0.01, 1]], tf: [[1.5, 0, 0.63], [0, 90, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 } dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
}, },
{ {
id: '54', t: 'gstore', v: true, id: '54', t: 'gstore', v: true,
tf: [[7.1, 0, 2.865], [0, 0, 0], [1, 0.01, 1]], tf: [[7.1, 0, 2.865], [0, 0, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 } dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
}, },
{ {
id: '56', t: 'gstore', v: true, id: '56', t: 'gstore', v: true,
tf: [[7.1, 0, 4.35], [0, 0, 0], [1, 0.01, 1]], tf: [[7.1, 0, 4.35], [0, 0, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 } dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
}, },
{ {
id: '58', t: 'gstore', v: true, id: '58', t: 'gstore', v: true,
tf: [[7.1, 0, 6.75], [0, 90, 0], [1, 0.01, 1]], tf: [[7.1, 0, 6.75], [0, 90, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 } dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
}, },
{ {
id: '10', t: 'cl2', v: true, id: '10', t: 'cl2', v: true,
tf: [[5.65, 0, 2.13], [0, -90, 0], [1, 1, 1]], tf: [[5.65, 0, 2.13], [0, -90, 0], [1, 1, 1]],
dt: { in: [], out: [], center: [], ptrWidth: 1.5, ptrDepth: 1.5, ptrHeight: 1.98 } dt: { in: [], out: [], center: [], ptrWidth: 1.5, ptrDepth: 1.5, ptrHeight: 1.98 }
}, },
{ {
id: '199', t: 'clx', v: true, id: '199', t: 'clx', v: true,
tf: [[1.5, 0, 2.13], [0, 0, 0], [1, 1, 1]], tf: [[1.5, 0, 2.13], [0, 0, 0], [1, 1, 1]],
dt: { in: [], out: [], center: [], clxWidth: 1.65, clxDepth: 1.65, clxHeight: 3.393 } dt: { in: [], out: [], center: [], clxWidth: 1.65, clxDepth: 1.65, clxHeight: 3.393 }
}, },
{ {
id: 'charger1', t: 'way', v: true, id: 'charger1', t: 'way', v: true,
tf: [[2.696, 0, 8.75], [0, 0, 0], [1, 1, 1]], tf: [[2.696, 0, 8.75], [0, 0, 0], [1, 1, 1]],
dt: { in: ['8'], out: ['8'], center: [], isCharger: true } dt: { in: ['8'], out: ['8'], center: [], isCharger: true }
}, },
{ {
id: 'charger2', t: 'way', v: true, id: 'charger2', t: 'way', v: true,
tf: [[5.655, 0, 8.75], [0, 0, 0], [1, 1, 1]], tf: [[5.655, 0, 8.75], [0, 0, 0], [1, 1, 1]],
dt: { in: ['27'], out: ['27'], center: [], isCharger: true } dt: { in: ['27'], out: ['27'], center: [], isCharger: true }
}, },
{ {
id: 'pallet1122', // 托盘唯一编码 id: 'pallet1122', // 托盘唯一编码
t: 'pallet', // 托盘类型 t: 'pallet', // 托盘类型

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src/example/example1.json
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