翻译:java中怎样使用树结构(How to Use Trees)(三)

本文介绍了使用Java实现动态改变树的功能,包括节点的增加、移除和文字编辑。通过显式增加tree样式,调用相关方法实现节点操作。还给出了初始化代码和完整的示例代码,展示了如何编译运行以实现tree增删改功能演示。

动态改变树

下面的图例展示了一个可以让用户增加,移除节点的树的应用,同时,用户可以对节点文字进行编辑(源代码附后).

你可以对后面的代码进行编译,可以看到一个非常完整的tree的增删改功能演示.

这是tree的初始化代码:

通过显式的增加一个tree的样式(model),可以保证tree的样式是DefaultTreeModel的一个实例.这样,我们就可以调用tree模式支持的所有方法.例如,我们可以调用medel的insertNodeInto方法,即使这个方法不是TreeModel接口必须的.

如果要使节点上的文字可编辑,只需调用setEditable(true)方法.当用户编辑完节点,model将产生一个model事件,进而通知事件监听器节点已经修改了.注意:虽然DefaultMutableTreeNode有可以改变节点内容的方法,但是节点内容的改变是通过DefaultTreeModel的方法完成的.另一方面,不会产生tree的model事件,tree的监听器也不会知道数据改变.

为了通报节点的改变,我们需要实现一个TreeModelListener监听器.下面是一个例子:tree model监听器可以发现节点的名字被改变.

下面的代码演示如何增加一个按钮的事件处理器用来给tree增加一个节点.

上面的代码增加了一个节点,并把它插入tree,如果顺利的话,同时请求上级节点展开,以便新增加的节点可见.为了向model插入一个节点,我们调用了DefaultTreeModel类的insertNodeInto方法.

:

DynamicTree.java

package dynamicTree;

/*

* This code is based on an example provided by Richard Stanford,

* a tutorial reader.

*/

import java.awt.GridLayout;

import java.awt.Toolkit;

import javax.swing.JPanel;

import javax.swing.JScrollPane;

import javax.swing.JTree;

import javax.swing.tree.DefaultMutableTreeNode;

import javax.swing.tree.DefaultTreeModel;

import javax.swing.tree.MutableTreeNode;

import javax.swing.tree.TreePath;

import javax.swing.tree.TreeSelectionModel;

import javax.swing.event.TreeModelEvent;

import javax.swing.event.TreeModelListener;

public class DynamicTree extends JPanel {

protected DefaultMutableTreeNode rootNode;

protected DefaultTreeModel treeModel;

protected JTree tree;

private Toolkit toolkit = Toolkit.getDefaultToolkit();

public DynamicTree() {

super(new GridLayout(1,0));

rootNode = new DefaultMutableTreeNode("Root Node");

treeModel = new DefaultTreeModel(rootNode);

treeModel.addTreeModelListener(new MyTreeModelListener());

tree = new JTree(treeModel);

tree.setEditable(true);

tree.getSelectionModel().setSelectionMode

(TreeSelectionModel.SINGLE_TREE_SELECTION);

tree.setShowsRootHandles(true);

JScrollPane scrollPane = new JScrollPane(tree);

add(scrollPane);

}

/** Remove all nodes except the root node. */

public void clear() {

rootNode.removeAllChildren();

treeModel.reload();

}

/** Remove the currently selected node. */

public void removeCurrentNode() {

TreePath currentSelection = tree.getSelectionPath();

if (currentSelection != null) {

DefaultMutableTreeNode currentNode = (DefaultMutableTreeNode)

(currentSelection.getLastPathComponent());

MutableTreeNode parent = (MutableTreeNode)(currentNode.getParent());

if (parent != null) {

treeModel.removeNodeFromParent(currentNode);

return;

}

}

// Either there was no selection, or the root was selected.

toolkit.beep();

}

/** Add child to the currently selected node. */

public DefaultMutableTreeNode addObject(Object child) {

DefaultMutableTreeNode parentNode = null;

TreePath parentPath = tree.getSelectionPath();

if (parentPath == null) {

parentNode = rootNode;

} else {

parentNode = (DefaultMutableTreeNode)

(parentPath.getLastPathComponent());

}

return addObject(parentNode, child, true);

}

public DefaultMutableTreeNode addObject(DefaultMutableTreeNode parent,

Object child) {

return addObject(parent, child, false);

}

public DefaultMutableTreeNode addObject(DefaultMutableTreeNode parent,

Object child,

boolean shouldBeVisible) {

DefaultMutableTreeNode childNode =

new DefaultMutableTreeNode(child);

if (parent == null) {

parent = rootNode;

}

treeModel.insertNodeInto(childNode, parent,

parent.getChildCount());

//Make sure the user can see the lovely new node.

if (shouldBeVisible) {

tree.scrollPathToVisible(new TreePath(childNode.getPath()));

}

return childNode;

}

class MyTreeModelListener implements TreeModelListener {

public void treeNodesChanged(TreeModelEvent e) {

DefaultMutableTreeNode node;

node = (DefaultMutableTreeNode)

(e.getTreePath().getLastPathComponent());

/*

* If the event lists children, then the changed

* node is the child of the node we've already

* gotten. Otherwise, the changed node and the

* specified node are the same.

*/

try {

int index = e.getChildIndices()[0];

node = (DefaultMutableTreeNode)

(node.getChildAt(index));

} catch (NullPointerException exc) {}

System.out.println("The user has finished editing the node.");

System.out.println("New value: " + node.getUserObject());

}

public void treeNodesInserted(TreeModelEvent e) {

}

public void treeNodesRemoved(TreeModelEvent e) {

}

public void treeStructureChanged(TreeModelEvent e) {

}

}

}

DynamicTreeDemo.java

package dynamicTree;

/*

* This code is based on an example provided by Richard Stanford,

* a tutorial reader.

*/

import java.awt.BorderLayout;

import java.awt.Dimension;

import java.awt.GridLayout;

import java.awt.event.ActionEvent;

import java.awt.event.ActionListener;

import javax.swing.JButton;

import javax.swing.JFrame;

import javax.swing.JPanel;

import javax.swing.tree.DefaultMutableTreeNode;

public class DynamicTreeDemo extends JPanel

implements ActionListener {

private int newNodeSuffix = 1;

private static String ADD_COMMAND = "add";

private static String REMOVE_COMMAND = "remove";

private static String CLEAR_COMMAND = "clear";

private DynamicTree treePanel;

public DynamicTreeDemo() {

super(new BorderLayout());

//Create the components.

treePanel = new DynamicTree();

populateTree(treePanel);

JButton addButton = new JButton("Add");

addButton.setActionCommand(ADD_COMMAND);

addButton.addActionListener(this);

JButton removeButton = new JButton("Remove");

removeButton.setActionCommand(REMOVE_COMMAND);

removeButton.addActionListener(this);

JButton clearButton = new JButton("Clear");

clearButton.setActionCommand(CLEAR_COMMAND);

clearButton.addActionListener(this);

//Lay everything out.

treePanel.setPreferredSize(new Dimension(300, 150));

add(treePanel, BorderLayout.CENTER);

JPanel panel = new JPanel(new GridLayout(0,1));

panel.add(addButton);

panel.add(removeButton);

panel.add(clearButton);

add(panel, BorderLayout.LINE_END);

}

public void populateTree(DynamicTree treePanel) {

String p1Name = new String("Parent 1");

String p2Name = new String("Parent 2");

String c1Name = new String("Child 1");

String c2Name = new String("Child 2");

DefaultMutableTreeNode p1, p2;

p1 = treePanel.addObject(null, p1Name);

p2 = treePanel.addObject(null, p2Name);

treePanel.addObject(p1, c1Name);

treePanel.addObject(p1, c2Name);

treePanel.addObject(p2, c1Name);

treePanel.addObject(p2, c2Name);

}

public void actionPerformed(ActionEvent e) {

String command = e.getActionCommand();

if (ADD_COMMAND.equals(command)) {

//Add button clicked

treePanel.addObject("New Node " + newNodeSuffix++);

} else if (REMOVE_COMMAND.equals(command)) {

//Remove button clicked

treePanel.removeCurrentNode();

} else if (CLEAR_COMMAND.equals(command)) {

//Clear button clicked.

treePanel.clear();

}

}

/**

* Create the GUI and show it. For thread safety,

* this method should be invoked from the

* event-dispatching thread.

*/

private static void createAndShowGUI() {

//Make sure we have nice window decorations.

JFrame.setDefaultLookAndFeelDecorated(true);

//Create and set up the window.

JFrame frame = new JFrame("DynamicTreeDemo");

frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);

//Create and set up the content pane.

DynamicTreeDemo newContentPane = new DynamicTreeDemo();

newContentPane.setOpaque(true); //content panes must be opaque

frame.setContentPane(newContentPane);

//Display the window.

frame.pack();

frame.setVisible(true);

}

public static void main(String[] args) {

//Schedule a job for the event-dispatching thread:

//creating and showing this application's GUI.

javax.swing.SwingUtilities.invokeLater(new Runnable() {

public void run() {

createAndShowGUI();

}

});

}

}

use_sim_time: True amcl: ros__parameters: use_sim_time: ${use_sim_time} # 继承全局时间配置 alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_link" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: False global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "differential" # 根据机器人类型调整(差速/全向) save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: True transform_tolerance: 0.5 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 # 行为树导航器配置 bt_navigator: ros__parameters: use_sim_time: ${use_sim_time} global_frame: map robot_base_frame: base_link odom_topic: /odom # 使用绝对路径确保找到正确的BT文件,避免路径冲突 default_bt_xml_filename: "/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node # 添加路径贯穿多个目标点的插件 - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2_distance_controller_bt_node - nav2_speed_controller_bt_node - nav2_truncate_path_action_bt_node - nav2_goal_updater_node_bt_node - nav2_recovery_node_bt_node - nav2_pipeline_sequence_bt_node - nav2_round_robin_node_bt_node - nav2_transform_available_condition_bt_node - nav2_time_expired_condition_bt_node - nav2_path_expiring_timer_condition - nav2_distance_traveled_condition_bt_node - nav2_remove_passed_goals_action_bt_node # 控制器配置(本地规划) controller_server: ros__parameters: use_sim_time: ${use_sim_time} controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 # 差速机器人可设为0.0 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] controller_plugins: ["FollowPath"] # 进度检查器参数 progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # 超时未移动则触发恢复行为 # 目标检查器参数 general_goal_checker: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 # 位置误差容忍度(米) yaw_goal_tolerance: 0.25 # 角度误差容忍度(弧度) stateful: True # DWB本地规划器参数 FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 max_vel_x: 0.26 # 最大线速度(根据机器人调整) min_vel_y: 0.0 max_vel_y: 0.0 # 差速机器人Y方向速度为0 min_vel_theta: -1.82 max_vel_theta: 1.82 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 1 # 差速机器人Y方向采样数设为1 vtheta_samples: 20 sim_time: 1.7 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.5 xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 rot_stopped_velocity: 0.25 prune_plan: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 # 局部代价地图配置 local_costmap: local_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 5.0 # 更新频率(Hz) publish_frequency: 2.0 # 发布频率(Hz) global_frame: odom # 局部地图参考系(里程计) robot_base_frame: base_link rolling_window: true # 滚动窗口(跟随机器人移动) width: 3 # 宽度(米) height: 3 # 高度(米) resolution: 0.05 # 分辨率(米/格) transform_tolerance: 0.5 plugins: ["voxel_layer", "inflation_layer"] voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan # 激光雷达数据来源 scan: topic: /scan # 激光雷达话题(确保与实际一致) max_obstacle_height: 2.0 clearing: True # 允许清除障碍物 marking: True # 允许标记障碍物 data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 # 膨胀半径(根据机器人半径调整) cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 全局代价地图配置 global_costmap: global_costmap: ros__parameters: use_sim_time: ${use_sim_time} update_frequency: 1.0 publish_frequency: 1.0 global_frame: map # 全局地图参考系(地图) robot_base_frame: base_link robot_radius: 0.22 # 机器人半径(米,根据实际调整) resolution: 0.05 transform_tolerance: 0.2 plugins: ["static_layer", "obstacle_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer" enabled: True map_subscribe_transient_local: True obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" enabled: True inflation_radius: 0.55 cost_scaling_factor: 10.0 inflate_unknown: False always_send_full_costmap: True # 地图服务器配置 map_server: ros__parameters: use_sim_time: ${use_sim_time} # 确保地图文件路径正确(.yaml和.pgm文件需在同一目录) yaml_filename: "/home/yahboom/hex_aqacs_planner/map.yaml" # 规划器服务器配置(全局规划) planner_server: ros__parameters: use_sim_time: ${use_sim_time} expected_planner_frequency: 20.0 planner_plugins: ["AQACSPlanner"] # 使用AQACS规划器 AQACSPlanner: # 修正插件名称格式,使用命名空间形式 plugin: "hex_aqacs_planner::AQACSPlanner" alpha: 1.0 beta: 2.0 rho: 0.1 ant_count: 50 q: 100.0 hex_side: 0.1 # 六边形边长(米) # 生命周期管理器配置(关键:管理节点启动顺序) lifecycle_manager_navigation: ros__parameters: use_sim_time: ${use_sim_time} # 节点启动顺序:先启动地图和定位,再启动规划和控制 node_names: ["map_server", "amcl", "planner_server", "controller_server", "bt_navigator"] autostart: True # 自动启动所有节点 bond_timeout: 10000 # 超时时间(毫秒) 帮我修改一下吧
最新发布
10-27
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