C++实现A星算法自动寻路

来源：互联网发布：淘宝买一送一怎么设置编辑：程序博客网时间：2024/06/05 20:58

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 1000using 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<other.f;}else {return true;//允许相同 }}}; set<Node> full;set<Node> openL;set<Node> closeL;vector<Node> 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<Node> *pL){set<Node>::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<Node> *pL){vector<Node>::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<Node>::iterator iter = openL.begin();for(int i=0;i<index;i++)iter++;if(node.g<iter->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<Node>::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!"<<endl;}else if(flag==-1){cout<<"format error"<<endl;}else if(flag==1){for(int i=0;i<row;i++){for(int j=0;j<col;j++){if(map[i][j]==1) cout<<"#";else{if(isContains(i,j,&resultL)){cout<<"@";}else{cout<<" ";}}}cout<<endl;}}system("pause");return 0;}Node::Node(int x,int y){this->x = x;this->y = y;this->g = 0;this->h = 0;this->f = 0;this->parent = NULL;}

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