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++) { Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY()); Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY()); std::vector<Node*> path_to_start = astar.getPath(start_node, end_node); std::vector<Node*> path_to_end = astar.getPath(end_node, end_node1); // 去掉 end_node1 path_to_end.erase(path_to_end.begin()); std::vector<Node*> path; path.insert(path.end(), path_to_start.begin()+1 , path_to_start.end()); path.insert(path.end(), path_to_end.begin(), path_to_end.end()); paths[i] = path; //輸出agv的路綫 std::cout << "AGV " << i << " path: "; for (int j = 0; j < path.size(); j++) { std::cout << "(" << path[j]->x << ", " <<path[j]->y << ")"; if (j != path.size() - 1) { std::cout << " -> "; } } std::cout << std::endl; } // 模擬運動 timer =new QTimer(this); timer->start(500); connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);} void MainWindow::moveAgvs() { 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, = { agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); std::cout << "A " << agvs[i].getid() << " next_node : " << next_node->x <<" , " << next_node->y << std::endl; std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() << std::endl; this->update(); if (next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY()) { //task_to_agv(i); } }); } } }，paths未識別項怎麽修改

在您的代码中，函数moveAgvs_()中定义了一个名为paths的std::vector<std::vector<Node*>>类型的变量，存储了每个agv的路线信息，但是在moveAgvs()函数中未定义paths变量，导致编译错误。

解决方法：您可以将paths变量定义为MainWindow类的私有变量，在类定义中添加如下代码：

private:
    std::vector<std::vector<Node*>> paths;

然后在moveAgvs_()函数中将paths赋值给私有变量即可，修改后的代码如下：

void MainWindow::moveAgvs_(){
    Astar astar;
    paths.resize(agvs.size()); // 得到agv的路线
    for (int i = 0; i < agvs.size(); i++) {
        Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
        Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY());
        Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY());
        std::vector<Node*> path_to_start = astar.getPath(start_node, end_node);
        std::vector<Node*> path_to_end = astar.getPath(end_node, end_node1);
        // 去掉 end_node1
        path_to_end.erase(path_to_end.begin());
        std::vector<Node*> path;
        path.insert(path.end(), path_to_start.begin()+1 , path_to_start.end());
        path.insert(path.end(), path_to_end.begin(), path_to_end.end());
        paths[i] = path;

        //輸出agv的路綫
        std::cout << "AGV " << i << " path: ";
        for (int j = 0; j < path.size(); j++) {
            std::cout << "(" << path[j]->x << ", " <<path[j]->y << ")";
            if (j != path.size() - 1) {
                std::cout << " -> ";
            }
        }
        std::cout << std::endl;
    }

    // 模擬運動
    timer = new QTimer(this);
    timer->start(500);
    connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);
}

void MainWindow::moveAgvs() {
    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, [=]{
                agvs[i].setCurrentX(next_node->x);
                agvs[i].setCurrentY(next_node->y);
                std::cout << "A " << agvs[i].getid() << " next_node : " << next_node->x <<" , " << next_node->y << std::endl;
                std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() << std::endl;
                this->update();
                if (next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY()) {
                    //task_to_agv(i);
                }
            });

            paths[i].erase(paths[i].begin());
        }
    }
}