Astar3D示例代码

Astar3D是一种三维路径规划算法，用于在三维空间中找到最短路径。下面是一个简单的Astar3D示例代码：

class Node:
    def __init__(self, x, y, z):
        self.x = x
        self.y = y
        self.z = z
        self.g = 0
        self.h = 0
        self.f = 0
        self.parent = None

def astar3d(start, goal):
    open_list = []
    closed_list = []

    open_list.append(start)

    while len(open_list) > 0:
        current_node = open_list
        current_index = 0

        for index, node in enumerate(open_list):
            if node.f < current_node.f:
                current_node = node
                current_index = index

        open_list.pop(current_index)
        closed_list.append(current_node)

        if current_node == goal:
            path = []
            current = current_node
            while current is not None:
                path.append((current.x, current.y, current.z))
                current = current.parent
            return path[::-1]

        neighbors = get_neighbors(current_node)  # 获取当前节点的邻居节点

        for neighbor in neighbors:
            if neighbor in closed_list:
                continue

            neighbor.g = current_node.g + distance(current_node, neighbor)
            neighbor.h = heuristic(neighbor, goal)
            neighbor.f = neighbor.g + neighbor.h

            if neighbor in open_list:
                if neighbor.g < neighbor.parent.g:
                    neighbor.parent = current_node
            else:
                neighbor.parent = current_node
                open_list.append(neighbor)

    return None

def distance(node1, node2):
    # 计算两个节点之间的距离
    # 这里可以根据实际情况使用不同的距离计算方法，如欧几里得距离、曼哈顿距离等
    return math.sqrt((node1.x - node2.x)**2 + (node1.y - node2.y)**2 + (node1.z - node2.z)**2)

def heuristic(node, goal):
    # 估算当前节点到目标节点的距离
    # 这里可以根据实际情况使用不同的估算方法，如欧几里得距离、曼哈顿距离等
    return math.sqrt((node.x - goal.x)**2 + (node.y - goal.y)**2 + (node.z - goal.z)**2)

def get_neighbors(node):
    # 获取当前节点的邻居节点
    # 这里可以根据实际情况定义邻居节点的获取方式，如八个方向、六个方向等
    neighbors = []
    # ...
    return neighbors

# 示例用法
start_node = Node(0, 0, 0)
goal_node = Node(5, 5, 5)
path = astar3d(start_node, goal_node)
print(path)

这段示例代码实现了一个简单的Astar3D算法，其中包括了节点类Node的定义，Astar3D算法的主要逻辑函数astar3d，以及一些辅助函数。你可以根据实际需求进行修改和扩展。