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); tasks[i].setCompleted(2); 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(); }); } } }，添加代碼：畫出agv的行駛路徑

添加代码：

在MainWindow类中添加一个私有成员变量：

std::vector<std::vector<Node*>> agv_paths;

在moveAgvs()函数中，将agv_paths赋值为paths：

agv_paths = paths;

然后在MainWindow类的paintEvent()函数中，添加以下代码：

QPainter painter(this);
for (int i = 0; i < agvs.size(); i++) {
    if (!agv_paths[i].empty()) {
        painter.setPen(QPen(agvs[i].getColor(), 3, Qt::SolidLine));
        QPoint p1(agvs[i].getCurrentX() * grid_size + grid_size / 2, agvs[i].getCurrentY() * grid_size + grid_size / 2);
        for (int j = 0; j < agv_paths[i].size() - 1; j++) {
            QPoint p2(agv_paths[i][j]->x * grid_size + grid_size / 2, agv_paths[i][j]->y * grid_size + grid_size / 2);
            QPoint p3(agv_paths[i][j + 1]->x * grid_size + grid_size / 2, agv_paths[i][j + 1]->y * grid_size + grid_size / 2);
            painter.drawLine(p2, p3);
        }
        QPoint p4(agvs[i].getEndX() * grid_size + grid_size / 2, agvs[i].getEndY() * grid_size + grid_size / 2);
        painter.drawLine(p1, p4);
    }
}

其中，grid_size是格子的大小，可以根据实际情况进行调整。这段代码会将每个AGV的行驶路径绘制出来。