void MainWindow::moveAgvs() { Astar astar; std::vector<std::vector<Node*>> paths(agvs.size()); //根據agv獲取taskid，初始化 int completed_task_index = -1; // 如果任務都完成了，停止定時器 bool all_tasks_completed = true; for (int j = 0; j < tasks.size(); j++) { if (tasks[j].completed != 2) { all_tasks_completed = false; break; } } if (all_tasks_completed) { timer->stop(); // 停止定时器 return; } // 得到agv的路綫 for (int i = 0; i < agvs.size(); i++) { if (agvs[i].getLoad() == true) { // 如果是负载的状态 if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) { // 如果到达终点 agvs[i].setLoad(false); // 设置为空载状态 agvs[i].setState(true); std::cout << "agv__id :" << agvs[i].getid() << " ,agv_get_task_id :" << agvs[i].get_task_id() << endl; for (int j = 0; j < tasks.size(); j++) { if (tasks[j].id == agvs[i].get_task_id()) { completed_task_index = j; break; } } if (completed_task_index != -1) { tasks[completed_task_index].completed = 2; } task_to_agv(); // 更新任务分配 update(); // 更新AGV状态 } else { // 否则行驶到终点 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 = astar.getPath(start_node, end_node1); path.erase(path.begin()); paths[i] = path; } } else { // 如果是空载的状态 if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) { // 如果到达起点 agvs[i].setLoad(true); // 设置为负载状态 } else { // 否则行驶到起点 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 = astar.getPath(start_node, end_node); path.erase(path.begin()); paths[i] = path; } } }，怎麽將path變爲成員變量，而不是局部變量

要将 `path` 变成成员变量，需要将 `paths` 定义为一个存储 `std::vector<Node*>` 的 vector，即 `std::vector<std::vector<Node*>> paths` 改为 `std::vector<std::vector<Node*>> paths_;`，然后在 `moveAgvs()` 函数中将 `path` 赋值给 `paths_` 的相应位置即可。

修改后的代码如下：

void MainWindow::moveAgvs() {      
    Astar astar;     
    std::vector<std::vector<Node*>> paths(agvs.size());     
    //根據agv獲取taskid，初始化     
    int completed_task_index = -1;      
    // 如果任務都完成了，停止定時器     
    bool all_tasks_completed = true;     
    for (int j = 0; j < tasks.size(); j++) {     
        if (tasks[j].completed != 2) {     
            all_tasks_completed = false;     
            break;     
        }     
    }     
    if (all_tasks_completed) {     
        timer->stop(); // 停止定时器     
        return;     
    }        
    // 得到agv的路綫     
    for (int i = 0; i < agvs.size(); i++) {     
        if (agvs[i].getLoad() == true) { // 如果是负载的状态     
            if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) { // 如果到达终点     
                agvs[i].setLoad(false); // 设置为空载状态     
                agvs[i].setState(true);     
                std::cout << "agv__id :" << agvs[i].getid() << " ,agv_get_task_id :" << agvs[i].get_task_id() << endl;     
                for (int j = 0; j < tasks.size(); j++) {     
                    if (tasks[j].id == agvs[i].get_task_id()) {     
                        completed_task_index = j;     
                        break;     
                    }     
                }     
                if (completed_task_index != -1) {     
                    tasks[completed_task_index].completed = 2;     
                }     
                task_to_agv(); // 更新任务分配     
                update(); // 更新AGV状态     
            } else { // 否则行驶到终点     
                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 = astar.getPath(start_node, end_node1);     
                path.erase(path.begin());     
                paths_[i] = path;     
            }     
        } else { // 如果是空载的状态     
            if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) { // 如果到达起点     
                agvs[i].setLoad(true); // 设置为负载状态     
            } else { // 否则行驶到起点     
                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 = astar.getPath(start_node, end_node);     
                path.erase(path.begin());     
                paths_[i] = path;     
            }     
        }     
    }     
}