void MainWindow::moveAgvs_(){ timer =new QTimer(this); timer->start(100); connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);} void MainWindow::moveAgvs() { Astar astar; std::vector<std::vector<Node*>> paths(agvs.size()); // 得到agv的路綫 for (int i = 0; i < agvs.size(); i++) { if (agvs[i].getState() == false) { if (agvs[i].getLoad()){//如果是負載的狀態，則任務的起點到任務的終點 if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) { agvs[i].setState(true); agvs[i].setLoad(false); task_to_agv(); } Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY()); std::vector<Node*> path_to_end = astar.getPath(start_node, end_node1); path_to_end.erase(path_to_end.begin()); std::vector<Node*> path; path.insert(path.end(), path_to_end.begin(), path_to_end.end()); paths[i] = path;} else { //如果是空載的狀態，則行駛到任務的起點 //如果agv已經到達任務起點，變爲負載狀態 if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) { agvs[i].setLoad(true); } Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY()); std::vector<Node*> path_to_start = astar.getPath(start_node, end_node); std::vector<Node*> path; path.insert(path.end(), path_to_start.begin() + 1, path_to_start.end()); paths[i] = path;} } //模擬小車行駛 for (int i = 0; i < agvs.size(); i++) { if (! paths[i].empty()) { Node* next_node = paths[i][0]; float speed = agvs[i].getSpeed(); float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2)); float time = distance / speed * 1000; QTimer::singleShot(time, this, &, i, next_node { agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() <<std::endl; this->update(); }); } } } }，給出代碼畫出agv獲取path的路綫

这段代码是一个在 Qt 框架下实现的 AGV（自动引导车）的运动控制函数。其中，通过 A* 算法实现 AGV 的路径规划并将规划的路径存储在 `std::vector<std::vector<Node*>> paths` 中。

以下是代码注释和画出 AGV 路线的过程：

void MainWindow::moveAgvs_() {
    timer = new QTimer(this);
    timer->start(100); // 每 100 毫秒更新一次 AGV 的位置
    connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);
}

void MainWindow::moveAgvs() {
    Astar astar; // 创建 A* 算法实例
    std::vector<std::vector<Node*>> paths(agvs.size()); // 存储 AGV 的路径

    // 得到 agv 的路线
    for (int i = 0; i < agvs.size(); i++) {
        if (agvs[i].getState() == false) {
            if (agvs[i].getLoad()) { // 如果是负载的状态，则任务的起点到任务的终点
                if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) {
                    agvs[i].setState(true);
                    agvs[i].setLoad(false);
                    task_to_agv();
                }
                Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
                Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY());
                std::vector<Node*> path_to_end = astar.getPath(start_node, end_node1);
                path_to_end.erase(path_to_end.begin()); // 删除起点
                std::vector<Node*> path;
                path.insert(path.end(), path_to_end.begin(), path_to_end.end());
                paths[i] = path;
            } else { // 如果是空载的状态，则行驶到任务的起点
                // 如果 AGV 已经到达任务起点，变为负载状态
                if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) {
                    agvs[i].setLoad(true);
                }
                Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
                Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY());
                std::vector<Node*> path_to_start = astar.getPath(start_node, end_node);
                std::vector<Node*> path;
                path.insert(path.end(), path_to_start.begin() + 1, path_to_start.end()); // 删除起点
                paths[i] = path;
            }
        }
    }

    // 模拟小车行驶
    for (int i = 0; i < agvs.size(); i++) {
        if (!paths[i].empty()) {
            Node* next_node = paths[i][0];
            float speed = agvs[i].getSpeed();
            float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2));
            float time = distance / speed * 1000;
            QTimer::singleShot(time, this, [&, i, next_node]() {
                agvs[i].setCurrentX(next_node->x);
                agvs[i].setCurrentY(next_node->y);
                std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() << std::endl;
                this->update();
            });
        }
    }
}

AGV 路线的绘制过程，可以在 Qt 的界面上通过 `paintEvent` 函数实现。在 `paintEvent` 函数内部，我们可以使用 `QPainter` 类绘制出 AGV 的路线。

void MainWindow::paintEvent(QPaintEvent* event) {
    QPainter painter(this);
    QPen pen_black(Qt::black, 1, Qt::SolidLine); // 黑色画笔
    QPen pen_red(Qt::red, 3, Qt::SolidLine); // 红色画笔

    // 绘制 AGV
    for (int i = 0; i < agvs.size(); i++) {
        int x = agvs[i].getCurrentX();
        int y = agvs[i].getCurrentY();
        painter.setPen(pen_black);
        painter.drawEllipse(x - 5, y - 5, 10, 10);
        painter.drawText(x - 5, y - 5, QString::number(agvs[i].getid()));
    }

    // 绘制 AGV 的路径
    for (int i = 0; i < agvs.size(); i++) {
        std::vector<Node*> path = paths[i];
        if (!path.empty()) {
            painter.setPen(pen_red);
            Node* prev = path[0];
            for (int j = 1; j < path.size(); j++) {
                Node* next = path[j];
                painter.drawLine(prev->x, prev->y, next->x, next->y);
                prev = next;
            }
        }
    }
}