for (int i = 0; i < agvs.size(); i++) { for (int j = 0; j < tasks.size(); j++) { if (tasks[j].id == agvs[i].get_task_id()) { completed_task_index = j; break; } } if (tasks[completed_task_index].completed == 2 ) { // 如果已经完成任务 paths[i].clear(); continue; // 跳过此次循环 } if (! paths[i].empty()) { int cur_x = agvs[i].getCurrentX(); int cur_y = agvs[i].getCurrentY(); 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; //_MAP[cur_x][cur_y] = 1; QTimer::singleShot(time, this, [&, i, next_node, cur_x, cur_y]() { // 离开当前位置时将标记设为0 //_MAP[cur_x][cur_y] = 0; agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); this->update(); // 在窗口中重绘 }); } }, if (agvs[i].getLoad()){ painter.drawPixmap(agvs[i].getCurrentX()*25+200-(nodeSpacing-nodeSize)/2,(agvs[i].getCurrentY()+1)*25+50-(nodeSpacing-nodeSize)/2,25,25,QPixmap(":/new/prefix1/agvload.png").scaled(25,25)); } else { painter.drawPixmap(agvs[i].getCurrentX()*25+200-(nodeSpacing-nodeSize)/2,(agvs[i].getCurrentY()+1)*25+50-(nodeSpacing-nodeSize)/2,25,25,QPixmap(":/new/prefix1/agv1.png").scaled(25,25)); }，修改代碼為，小車進行平滑的移動

可以使用QPropertyAnimation来实现小车的平滑移动。具体做法如下：

1. 在类中声明一个QPropertyAnimation指针变量：`QPropertyAnimation* animation;`

2. 在路径规划部分的定时器中，创建QPropertyAnimation对象并设置相关属性：

animation = new QPropertyAnimation(agvs[i], "pos");
animation->setDuration(time);
animation->setStartValue(QPoint(cur_x*25+200-(nodeSpacing-nodeSize)/2, (cur_y+1)*25+50-(nodeSpacing-nodeSize)/2));
animation->setEndValue(QPoint(next_node->x*25+200-(nodeSpacing-nodeSize)/2, (next_node->y+1)*25+50-(nodeSpacing-nodeSize)/2));

其中，第一个参数指定要进行动画的对象，这里是agvs[i]，即第i个小车；第二个参数指定要进行动画的属性，这里是位置，即小车的坐标；setDuration()方法设置动画的时长；setStartValue()和setEndValue()方法设置动画的起始值和终止值。

3. 启动动画：

animation->start();

4. 在动画完成后，重置路径和更新界面：

connect(animation, &QPropertyAnimation::finished, this, [&, i]() {
    paths[i].pop_front();
    if (paths[i].empty()) {
        agvs[i].set_task_id(-1);
    }
    update();
});

其中，connect()方法用于连接动画完成信号和槽函数，第一个参数是动画对象，第二个参数是信号，这里指定动画完成信号；第三个参数是槽函数，这里使用lambda表达式，用于重置路径、更新界面和清空任务。

5. 在绘制小车部分，直接绘制agvs[i]对象即可，无需再使用painter绘制。

完整代码如下：

for (int i = 0; i < agvs.size(); i++) {
    for (int j = 0; j < tasks.size(); j++) {
        if (tasks[j].id == agvs[i].get_task_id()) {
            completed_task_index = j;
            break;
        }
    }
    if (tasks[completed_task_index].completed == 2 ) { // 如果已经完成任务
        paths[i].clear();
        continue; // 跳过此次循环
    }

    if (! paths[i].empty()) {
        int cur_x = agvs[i].getCurrentX();
        int cur_y = agvs[i].getCurrentY();
        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;

        QPropertyAnimation* animation = new QPropertyAnimation(agvs[i], "pos");
        animation->setDuration(time);
        animation->setStartValue(QPoint(cur_x*25+200-(nodeSpacing-nodeSize)/2, (cur_y+1)*25+50-(nodeSpacing-nodeSize)/2));
        animation->setEndValue(QPoint(next_node->x*25+200-(nodeSpacing-nodeSize)/2, (next_node->y+1)*25+50-(nodeSpacing-nodeSize)/2));
        animation->start();

        connect(animation, &QPropertyAnimation::finished, this, [&, i]() {
            paths[i].pop_front();
            if (paths[i].empty()) {
                agvs[i].set_task_id(-1);
            }
            update();
        });
    }
}

for (int i = 0; i < agvs.size(); i++) {
    if (agvs[i].getLoad()){
        painter.drawPixmap(agvs[i].x()*25+200-(nodeSpacing-nodeSize)/2, agvs[i].y()*25+50-(nodeSpacing-nodeSize)/2, 25, 25, QPixmap(":/new/prefix1/agvload.png").scaled(25,25));
    } else {
        painter.drawPixmap(agvs[i].x()*25+200-(nodeSpacing-nodeSize)/2, agvs[i].y()*25+50-(nodeSpacing-nodeSize)/2, 25, 25, QPixmap(":/new/prefix1/agv1.png").scaled(25,25));
    }
}