基于C#的A_star寻径算法的实现

using System;using System.Collections.Generic;using System.Linq;using System.Text;using System.Collections;namespace ConsoleApplication2{    class Program    {        static void Main(string[] args)        {            test mytest = new test();            //定义出发位置            Point pa = new Point();            pa.x = 1;            pa.y = 1;            //定义目的地            Point pb = new Point();            pb.x = 8;            pb.y = 8;            mytest.FindWay(pa, pb);            mytest.PrintMap();            Console.ReadLine();        }    }    class test    {        //数组用1表示可通过，0表示障碍物        byte[,] R = new byte[10, 10] {             { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 0, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 0, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 0, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 0, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 0, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 0, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },            { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 }                        };        //开启列表        List<Point> Open_List = new List<Point>();        //关闭列表        List<Point> Close_List = new List<Point>();        //从开启列表查找F值最小的节点        private Point GetMinFFromOpenList()        {            Point Pmin = null;            foreach (Point p in Open_List) if (Pmin==null || Pmin.G + Pmin.H > p.G + p.H) Pmin = p;            return Pmin;        }        //判断一个点是否为障碍物        private bool IsBar(Point p, byte[,] map)        {            if (map[p.y, p.x] == 0) return true;            return false;        }        //判断关闭列表是否包含一个坐标的点        private bool IsInCloseList(int x, int y)        {            foreach (Point p in Close_List) if (p.x == x && p.y == y) return true;            return false;        }        //从关闭列表返回对应坐标的点        private Point GetPointFromCloseList(int x, int y)        {            foreach (Point p in Close_List) if (p.x == x && p.y == y) return p;            return null;        }        //判断开启列表是否包含一个坐标的点        private bool IsInOpenList(int x, int y)        {            foreach (Point p in Open_List) if (p.x == x && p.y == y) return true;            return false;        }        //从开启列表返回对应坐标的点        private Point GetPointFromOpenList(int x, int y)        {            foreach (Point p in Open_List) if (p.x == x && p.y == y) return p;            return null;        }        //计算某个点的G值        private int GetG(Point p)        {            if (p.father == null) return 0;            if (p.x == p.father.x || p.y == p.father.y) return p.father.G + 10;            else return p.father.G + 14;        }        //计算某个点的H值        private int GetH(Point p, Point pb)        {            return Math.Abs(p.x - pb.x) + Math.Abs(p.y - pb.y);        }        //检查当前节点附近的节点        private void CheckP8(Point p0, byte[,] map, Point pa, ref Point pb)        {            for (int xt = p0.x - 1; xt <= p0.x + 1; xt++)            {                for (int yt = p0.y - 1; yt <= p0.y + 1; yt++)                {                    //排除超过边界和等于自身的点                    if ((xt >= 0 && xt < 10 && yt >= 0 && yt < 10) && !(xt == p0.x && yt == p0.y))                    {                        //排除障碍点和关闭列表中的点                        if (map[yt, xt] != 0 && !IsInCloseList(xt, yt))                        {                            if (IsInOpenList(xt, yt))                            {                                Point pt = GetPointFromOpenList(xt, yt);                                int G_new = 0;                                if (p0.x == pt.x || p0.y == pt.y) G_new = p0.G + 10;                                else G_new = p0.G + 14;                                if (G_new < pt.G)                                {                                    Open_List.Remove(pt);                                    pt.father = p0;                                    pt.G = G_new;                                    Open_List.Add(pt);                                }                            }                            else                            {                                //不在开启列表中                                Point pt = new Point();                                pt.x = xt;                                pt.y = yt;                                pt.father = p0;                                pt.G = GetG(pt);                                pt.H = GetH(pt, pb);                                Open_List.Add(pt);                            }                        }                    }                }            }        }        public void FindWay(Point pa, Point pb)        {            Open_List.Add(pa);            while (!(IsInOpenList(pb.x, pb.y) || Open_List.Count == 0))            {                Point p0 = GetMinFFromOpenList();                if (p0 == null) return;                Open_List.Remove(p0);                Close_List.Add(p0);                CheckP8(p0, R, pa, ref pb);            }            Point p = GetPointFromOpenList(pb.x, pb.y);            while (p.father != null)            {                p = p.father;                R[p.y, p.x] = 3;            }        }        public void SaveWay( Point pb)        {            Point p = pb;            while (p.father != null)            {                p = p.father;                R[p.y, p.x] = 3;            }        }        public void PrintMap()        {            for (int a = 0; a < 10; a++)            {                for (int b = 0; b < 10; b++)                {                    if (R[a, b] == 1) Console.Write("█");                    else if (R[a, b] == 3) Console.Write("★");                    else if (R[a, b] == 4) Console.Write("○");                    else Console.Write("  ");                }                Console.Write("\n");            }        }    }    class Point    {        public int y;        public int x;        public int G;        public int H;        public Point()        {        }        public Point(int x0, int y0, int G0, int H0, Point F)        {            x = x0;            y = y0;            G = G0;            H = H0;            father = F;        }        public Point father;    }}

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