yuliang
/
yvan-rcs-web
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

A* 寻路

master
修宁 6 months ago
parent
1f2e5da4e4
commit
cc35fb044d
2 changed files with 1322 additions and 1710 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 146
      src/example/example1.js
  2. 444
      src/example/example1.json

146
src/example/example1.js
View File

@ -174,7 +174,7 @@ export default {
tf: [[0, 0, 9], [90, 0, 0], [0.1, 0.1, 0.1]],
dt: { in: [], out: [], center: ['m3', 'm1'] }
},
{
{
id: 'rack1',
t: 'rack',
v: true,
@ -200,191 +200,191 @@ export default {
in: [],
out: []
}
},
{
},
{
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]],
dt: {
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,
tf: [[2.7, 0, 2.832], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['1', '3'], out: ['1', '3'], center: [] }
},
{
},
{
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]],
dt: {
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,
tf: [[2.7, 0, 4.582], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['3', '5'], out: ['3', '5'], center: [] }
},
{
},
{
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]],
dt: {
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,
tf: [[2.7, 0, 5.882], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['5', '7'], out: ['5', '7'], center: [] }
},
{
},
{
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]],
dt: {
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,
tf: [[2.7, 0, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[5.65, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: { in: ['20'], out: ['20'], center: [] }
},
{
},
{
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]],
dt: {
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,
tf: [[5.65, 0, 3.932], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[5.65, 0, 4.348], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[5.65, 0, 5.232], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
in: ['22', '24'], out: ['22', '24'], center: [],
agvRotation: ['cl2', 'clx'],
linkStore: [{ item: 'rack1', bay: 2, level: 1, cell: 0 }]
allowAgvRotation: ['cl2', 'clx'],
linkStore: [{ item: 'rack1', bay: 2, level: 1, cell: 0, direction: 'left' }]
}
},
{
},
{
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]],
dt: { in: ['23', '25'], out: ['23', '25'], center: [] }
},
{
},
{
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]],
dt: {
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,
tf: [[5.65, 0, 6.744], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[5.65, 0, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[3.9, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[1.5, 0, 2.13], [90, 0, 0], [0.25, 0.25, 0.1]],
dt: {
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,
tf: [[3.9, 0, 0.63], [0, 90, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
},
{
},
{
id: '49', t: 'gstore', v: true,
tf: [[1.5, 0, 0.63], [0, 90, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
},
},
{
{
id: '54', t: 'gstore', v: true,
tf: [[7.1, 0, 2.865], [0, 0, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
},
{
},
{
id: '56', t: 'gstore', v: true,
tf: [[7.1, 0, 4.35], [0, 0, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
},
{
},
{
id: '58', t: 'gstore', v: true,
tf: [[7.1, 0, 6.75], [0, 90, 0], [1, 0.01, 1]],
dt: { in: [], out: [], center: [], strokeWidth: 0.1 }
},
{
},
{
id: '10', t: 'cl2', v: true,
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 }
},
{
},
{
id: '199', t: 'clx', v: true,
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 }
},
{
},
{
id: 'charger1', t: 'way', v: true,
tf: [[2.696, 0, 8.75], [0, 0, 0], [1, 1, 1]],
dt: { in: ['8'], out: ['8'], center: [], isCharger: true }
},
{
},
{
id: 'charger2', t: 'way', v: true,
tf: [[5.655, 0, 8.75], [0, 0, 0], [1, 1, 1]],
dt: { in: ['27'], out: ['27'], center: [], isCharger: true }
},
},
{
id: 'pallet1122', // 托盘唯一编码
t: 'pallet', // 托盘类型

444
src/example/example1.json
View File

@ -1,7 +1,4 @@
{
"catalogCode": "f2",
"t": "floor",
"items": [
[
{
"id": "rack1",
"t": "rack",
@ -189,7 +186,8 @@
"item": "rack1",
"bay": 3,
"level": 2,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -269,7 +267,8 @@
"item": "rack1",
"bay": 2,
"level": 2,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -349,7 +348,8 @@
"item": "rack1",
"bay": 1,
"level": 1,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -393,7 +393,8 @@
"item": "rack1",
"bay": 0,
"level": 2,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -471,7 +472,8 @@
"item": "54",
"bay": 0,
"level": 0,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -515,7 +517,8 @@
"item": "rack1",
"bay": 3,
"level": 1,
"cell": 0
"cell": 0,
"direction": "left"
}
]
}
@ -559,7 +562,8 @@
"item": "56",
"bay": 0,
"level": 0,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -607,7 +611,8 @@
"item": "rack1",
"bay": 2,
"level": 1,
"cell": 0
"cell": 0,
"direction": "left"
}
]
}
@ -687,7 +692,8 @@
"item": "rack1",
"bay": 1,
"level": 1,
"cell": 0
"cell": 0,
"direction": "left"
}
]
}
@ -731,7 +737,8 @@
"item": "58",
"bay": 0,
"level": 0,
"cell": 0
"cell": 0,
"direction": "right"
}
]
}
@ -775,7 +782,8 @@
"item": "rack1",
"bay": 0,
"level": 1,
"cell": 0
"cell": 0,
"direction": "left"
}
]
}
@ -817,7 +825,8 @@
"item": "47",
"bay": 0,
"level": 0,
"cell": 0
"cell": 0,
"direction": "up"
}
]
}
@ -859,7 +868,8 @@
"item": "49",
"bay": 0,
"level": 0,
"cell": 0
"cell": 0,
"direction": "up"
}
]
}
@ -1127,403 +1137,5 @@
"center": [],
"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
}
}
}
]
}
]

Write Preview
Loading…
Cancel
Save