A星算法-自动寻路-c++

由于本人太笨，看原理看了老半天才看懂，虽然有现成的写好的版本，但还是想自己写一个。我写的这个基本上没怎么优化，只是实现了原理。

 

一共分三个文件，一个头文件两个CPP文件

 

A星原理可以去网上搜。

 

那我就直接上代码啦！

 

A星的头文件

 

/************************************************************************/ /* author: 小鲁 /* version: 1.0 /* update: 06/26/10 /************************************************************************/ #include "stdafx.h" #include <list> #include <math.h> #include "iostream" #include <assert.h> using namespace std; // 坐标点 typedef struct _point { int x; int y; int isblock; _point() { x = 0; y = 0; } _point(int _x, int _y) { x = _x; y = _y; } }point; //结点 typedef struct _Node { point pt; int f, g, h; struct _Node *preNode;//父节点 }Node; /************************************************************************/ /* A 星算法 */ /************************************************************************/ class AStar{ public: AStar(void); ~AStar(void); public: static const int SPEND_H = 10;//H值耗费 static const int SPEND_G_FAR = 14;//远的G值耗费 static const int SPEND_G_NEAR = 10;//近的G值耗费 list<Node*> psOpenList; //开放列表 list<Node*> psCloseList;//封闭列表 Node *sStartNode; //起始节点 Node *sEndNode; //终止节点 Node *pcurrNode;//是否是终点? NOT NULL : NULL public: void SetStartNode(point st){sStartNode->pt.x = st.x;sStartNode->pt.y = st.y;};//设定起始节点 void SetEndNode(point et){sEndNode->pt.x = et.x;sEndNode->pt.y = et.y;};//设定结束节点 void Search();//主搜索 void AddToOpenList(Node *src);//添加到开放列表 void GetNodeByPoint(Node *pareNode, int _x, int _y);//通过坐标添加到开放列表 bool IsClosed(Node *src);//坐标点是否在封闭列表中 bool IsInOpenList(Node *src);//坐标点是否在开放列表中 bool IsBlock(Node *src);//坐标点是否是阻挡点 void SetH(Node *node);//设定H的耗费 void SetG(Node *node);//设定G的耗费 void SetF(Node *node);//设定F的耗费 Node* GetBestNode(); //得到最优的节点(F值最低的节点) bool isPath(list<point> *path, int i, int j);//测试方法-用于输出 };

 

A星的实现文件

 

/************************************************************************/ /* author: 小鲁 /* version: 1.0 /* update: 06/26/10 /************************************************************************/ #include "stdafx.h" #include "AStar.h" AStar::AStar(void) { sStartNode = new Node(); sEndNode = new Node(); pcurrNode = NULL; } AStar::~AStar(void) { delete sStartNode; delete sEndNode; delete pcurrNode; } void AStar::Search() { Node *currentNode;//当前节点 currentNode = sStartNode; currentNode->preNode = NULL;//初始节点的父节点为空 currentNode->g = 0; SetH(currentNode); SetF(currentNode); psOpenList.push_front(sStartNode);//添加起始点到开放列表 do { currentNode = GetBestNode();//从开放列表得到最优节点 //遍历当前结点周围的结点并加入开放列表，当前节点从开放列表中移到封闭列表中 AddToOpenList(currentNode); psCloseList.push_front(currentNode);//添加到关闭列表中 if(psOpenList.size() < 1 || pcurrNode)break; //如果目标节点已经存在于开放列表或开放列表是空则退出 } while (true); //*******************************测试方法Start*******************************// list<point> path; //用于存放寻路后的数据 do { path.push_front(currentNode->pt); cout<<currentNode->pt.x<<"/t"<<currentNode->pt.y<<endl; if(currentNode->pt.x == sStartNode->pt.x && currentNode->pt.y == sStartNode->pt.y)break; currentNode = currentNode->preNode; } while (true); //输出模拟的地图和寻路后的路径 for(int j=0;j<10;++j) { for (int i=0;i<10;++i) { if(isPath(&path,i,j)) cout<<"〇"<<"/t"; else cout<<"×"<<"/t"; } cout<<endl; } //*******************************测试方法End*******************************// } //*******************************测试方法Start*******************************// bool AStar::isPath(list<point> *path, int i, int j) { for(list<point>::iterator openIterator = path->begin(); openIterator != path->end(); ++openIterator) { if((*openIterator).x == i && (*openIterator).y == j){return true;} } return false; } //*******************************测试方法End*******************************// //添加到开放列表 void AStar::AddToOpenList(Node *src){ //添加当前坐标的周围坐标(一共8个方向) GetNodeByPoint(src, src->pt.x, src->pt.y + 1);//上 GetNodeByPoint(src, src->pt.x, src->pt.y - 1);//下 GetNodeByPoint(src, src->pt.x - 1, src->pt.y);//左 GetNodeByPoint(src, src->pt.x + 1, src->pt.y);//右 GetNodeByPoint(src, src->pt.x - 1, src->pt.y + 1);//左上 GetNodeByPoint(src, src->pt.x - 1, src->pt.y - 1);//左下 GetNodeByPoint(src, src->pt.x + 1, src->pt.y + 1);//右上 GetNodeByPoint(src, src->pt.x + 1, src->pt.y - 1);//右下 } void AStar::GetNodeByPoint(Node *pareNode, int _x, int _y) { //如果坐标已经越界则不添加---具体参数读配置文件 if(_x < 0 || _y< 0 || _x >10 || _y>10) return ; Node *sNode = new Node(); //设定坐标值 sNode->pt.x = _x; sNode->pt.y = _y; //如果此坐标存在于封闭列表或是阻挡物的话，不进行添加 if(IsClosed(sNode) || IsBlock(sNode)) { return; } else { //设定父结点 sNode->preNode = pareNode; SetG(sNode);SetH(sNode);SetF(sNode);//设定各种耗费 psOpenList.push_front(sNode);//添加到开放列表 if(sNode->pt.x == sEndNode->pt.x && sNode->pt.y == sEndNode->pt.y) pcurrNode = sNode;//终点坐标已经存在于开放列表 } } //是否存在于封闭列表 bool AStar::IsClosed(Node *src) { for(list<Node*>::iterator openIterator = psCloseList.begin(); openIterator != psCloseList.end(); ++openIterator) { if((*openIterator)->pt.x == src->pt.x && (*openIterator)->pt.y == src->pt.y){return true;} } return false; } //是否存在于开放列表 bool AStar::IsInOpenList(Node *src) { for(list<Node*>::iterator openIterator = psOpenList.begin(); openIterator != psOpenList.end(); ++openIterator) { if((*openIterator)->pt.x == src->pt.x && (*openIterator)->pt.y == src->pt.y){return true;} } return false; } //是否是阻挡坐标 bool AStar::IsBlock(Node *src) { //下面是测试数据，真实的数据去读配置文件 if(src->pt.x == 0 && src->pt.y == 4)return true; if(src->pt.x == 1 && src->pt.y == 4)return true; if(src->pt.x == 2 && src->pt.y == 4)return true; if(src->pt.x == 3 && src->pt.y == 4)return true; if(src->pt.x == 4 && src->pt.y == 4)return true; //if(src->pt.x == 5 && src->pt.y == 4)return true; if(src->pt.x == 6 && src->pt.y == 4)return true; if(src->pt.x == 7 && src->pt.y == 4)return true; if(src->pt.x == 8 && src->pt.y == 4)return true; if(src->pt.x == 9 && src->pt.y == 4)return true; if(src->pt.x == 10 && src->pt.y == 4)return true; return false; } //计算从B点(某点)到终点的耗费 void AStar::SetH(Node *node) { node->h = (abs(node->pt.x - sEndNode->pt.x) + abs(node->pt.y - sEndNode->pt.y)) * SPEND_H; } //计算从起点到B点(某点)的耗费 void AStar::SetG(Node *node) { if(node->pt.x != node->preNode->pt.x && node->pt.y != node->preNode->pt.y) node->g = node->preNode->g + SPEND_G_FAR; else node->g = node->preNode->g + SPEND_G_NEAR; } //计算总体耗费 F = G + H void AStar::SetF(Node *node) { node->f = node->g + node->h; } //从开放列表中得到最优值(F值最低) Node* AStar::GetBestNode() { Node* bNode; int bestF = 9999999; list<Node*>::iterator iterT;//记录最优值的位置方便删除 for(list<Node*>::iterator openIterator = psOpenList.begin(); openIterator != psOpenList.end(); ++openIterator) { if(bestF > (*openIterator)->f){ bestF = (*openIterator)->f; bNode = *openIterator; iterT = openIterator; } } if(bNode) psOpenList.erase(iterT);//找到最优值后从开放列表中删除 return bNode; }

 

测试文件

 

/************************************************************************/ /* author: 小鲁 /* version: 1.0 /* update: 06/26/10 /************************************************************************/ #include "stdafx.h" #include "iostream" #include <list> #include "AStar.h" using namespace std; /************************************************************************/ /* A 星算法测试 */ /************************************************************************/ int _tmain(int argc, _TCHAR* argv[]) { point sp; sp.x = 1; sp.y = 3; point ep; ep.x = 10; ep.y = 10; AStar astar; astar.SetStartNode(sp); astar.SetEndNode(ep); astar.Search(); getchar(); return 0; }