C++实现A星算法自动寻路

虽然网上已经有许多A星算法的实现，但大多过于繁琐。这是实现的精简版，必须要吐槽一下C++对象的指针和引用，还有那让人蛋疼的while和递归居然是两码事（这bug调了我一晚上）。不行你试试，把下面的start()的方法改下成while() 注释可以参考http://blog.csdn.net/liucanlong/article/details/10334035

#include "iostream"
#include "set"
#include "stdlib.h"
#include "vector"
#define N 1000
using namespace std;
class Node{
	public:
		int x;
		int y;
		int g;
		int h;
		int f;
		Node *parent;
		Node(int,int);
		Node(){}
		bool operator <(const Node &other)const{
			if(this->f!=other.f){
				return this->f
  
    full;
set
   
     openL; set
    
      closeL; vector
     
       resultL; int map[N][N]={ {0,0,0,0,0,0,0,0,0,0}, {0,0,0,0,1,0,0,0,0,0}, {0,0,0,0,1,0,0,0,0,0}, {0,0,0,0,1,0,0,0,0,0}, {0,0,0,0,1,0,0,0,0,0}, {0,0,0,0,1,0,0,0,0,0}}; int col; int row; int line = 10; int xie = 14; int isContains(int x,int y,set
      
        *pL){ set
       
        ::iterator iter = pL->begin(); for(int i=0;iter!=pL->end();iter++,i++){ if(iter->x==x&&iter->y==y) return i; } return -1; } int isContains(int x,int y,vector
        
          *pL){ vector
         
          ::iterator iter = pL->begin(); for(int i=0;iter!=pL->end();iter++,i++){ if(iter->x==x&&iter->y==y) return 1; } return 0; } int countH(int x,int y,int endX,int endY){ int xSub = abs(x-endX); int ySub = abs(y-endY); int minXY = xSub>ySub ySub:xSub; return minXY*xie+abs(xSub-ySub)*line; } void check(int x,int y,int cost,Node *parent,int endX,int endY){ if(x<0||x>=row||y<0||y>=col) return; Node node(x,y); node.parent = parent; node.g = parent->g+cost; if(isContains(x,y,&closeL)!=-1) return; if(map[x][y]==1){ closeL.insert(node); return; } int index = isContains(x,y,&openL); if(index!=-1){ set
          
           ::iterator iter = openL.begin(); for(int i=0;i
           
            g){ node.f = node.g+iter->h; node.h = iter->h; openL.erase(iter); openL.insert(node); } }else{ node.h = countH(x,y,endX,endY); node.f = node.h+node.g; openL.insert(node); } } void getPath(Node *node){ while(node->parent==NULL){ resultL.push_back(*node); return; } getPath(node->parent); resultL.push_back(*node); } int start(int endX,int endY){ if(openL.empty()) return 0; set
            
             ::iterator iter = openL.begin(); Node n = *iter; if(n.x==endX&&n.y==endY){ getPath(&n); return 1; } check(n.x,n.y-1,line,&n,endX,endY); //左 check(n.x,n.y+1,line,&n,endX,endY); //右 check(n.x-1,n.y,line,&n,endX,endY); //上 check(n.x+1,n.y,line,&n,endX,endY); //下 check(n.x-1,n.y-1,xie,&n,endX,endY); //左上 check(n.x-1,n.y+1,xie,&n,endX,endY); //右上 check(n.x+1,n.y-1,xie,&n,endX,endY); //左下 check(n.x+1,n.y+1,xie,&n,endX,endY); //右下 closeL.insert(n); openL.erase(iter); return start(endX,endY); } int search(int startX,int startY,int endX,int endY){ if(map[startX][startY]==1||map[endX][endY]==1) return -1; Node *root = new Node(startX,startY); openL.insert(*root); return start(endX,endY); } int main(){ col = 10; row = 6; int flag = search(3, 0, 4, 7); if(flag==0){ cout<<"no find!"<
             
              x = x; this->y = y; this->g = 0; this->h = 0; this->f = 0; this->parent = NULL; }