A*迷宫算法（基本是C语言，但用到了C++的动态数组）

#include <stdio.h>
#include <vector> //动态数组 
#include <cstring>

using namespace std;//C++的动态数组 

#define ROWS 21
#define COLS 21


//代价
#define ONE_len 10

enum direct {
 	p_right,//右 
	p_up,//上 
	p_left,//左
	p_down,//下 
};
int map[ROWS][COLS] = {
	// 0   1   2   3   4   5   6   7   8   9 
	{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
	{1,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,1,0,0,0,0},//0
	{1,0,1,0,1,1,1,0,1,0,1,0,1,1,1,0,1,0,1,1,1},
	{1,0,1,0,1,0,0,0,1,0,0,0,0,0,1,0,1,0,0,0,1},//1
	{1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,0,1,1,1,0,1},
	{1,0,1,0,0,0,0,0,1,0,0,0,0,0,1,0,1,0,0,0,1},//2
	{1,1,1,0,1,0,1,0,1,1,1,1,1,0,1,1,1,0,1,1,1},
	{1,0,0,0,1,0,1,0,0,0,0,0,1,0,0,0,0,0,1,0,1},//3
	{1,0,1,1,1,0,1,0,1,1,1,1,1,1,1,0,1,1,1,0,1},
	{1,0,1,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1},//4
	{1,0,1,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,0,1},
	{1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,1,0,1},//5
	{1,0,1,1,1,0,1,1,1,1,1,1,1,0,1,0,1,1,1,0,1},
	{1,0,1,0,0,0,0,0,1,0,0,0,0,0,1,0,1,0,0,0,1},//6
	{1,1,1,0,1,1,1,0,1,1,1,1,1,0,1,0,1,0,1,1,1},
	{1,0,0,0,1,0,1,0,0,0,0,0,1,0,0,0,0,0,1,0,1},//7
	{1,0,1,1,1,0,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1},
	{1,0,0,0,1,0,1,0,0,0,0,0,1,0,0,0,1,0,1,0,1},//8
	{1,1,1,0,1,0,1,1,1,0,1,0,1,0,1,1,1,0,1,0,1},
	{0,0,0,0,1,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,1},//9
	{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
	// 0   1   2   3   4   5   6   7   8   9 
};
void make_map()				//打印地图 
{
	int i, j;
	for (i = 0; i < 21; i++)
	{
		for (j = 0; j < 21; j++)
		{
			switch (map[i][j])
			{
			case 0:printf("  "); break;
			case 1:printf("墙"); break;
			case 2:printf("十"); break;
			}
		}
		printf("\n");
	}
}//打印地图 

struct POINT {
		int x;		//横轴 
		int y;		//纵轴 

		int f;
		int g;
		int h;

	//	void setf() { f = g + h; }
};	//点结构体 

 struct TREE {
		POINT          pos;
		vector<TREE*>  child;
		TREE*          pParent;
};	//树节点结构体  



int geth(POINT  pos, POINT endpos)//获得h值  
{
	int x = (pos.x > endpos.x) ? (pos.x - endpos.x) : (endpos.x - pos.x);
	int y = (pos.y > endpos.y) ? (pos.y - endpos.y) : (endpos.y - pos.y);
	return ONE_len * (x+y);
	
}
TREE* createNode(int x, int y) {
	TREE* pNew = new TREE;//  开内存 
	memset(pNew,0, sizeof(TREE));//全部为空  
	pNew->pos.x = x;
	pNew->pos.y = y;

	return pNew; 
};
int main()
{
    //标记是否找到终点 
	bool isfindend = false;
	//记录点是否走过
	bool  poseMap[ROWS][COLS] = { 0 };
	//起点 
	POINT begpos = {19,0}; 
	//终点 
	POINT endpos = {1,20};
	//准备一棵树 
	TREE* pRoot = NULL;
	//起点入树 
	pRoot = createNode(begpos.x, begpos.y);
	//标记起点走过 
	poseMap[begpos.x][begpos.y] = true;
	//准备一个数组存最小f  
	vector<TREE*> buff;
	//当前点 
	TREE* pCurrent = pRoot;
	//找当前点的相邻点 
	TREE* pChild = NULL;
	vector<TREE*>::iterator it;//循环遍历 
	vector<TREE*>::iterator itmin;//f最小 
	//make_map();	
	
	while (1) //循环寻路 
	{
		
		for (int i = 0; i < 4; i++)
		{
			TREE* pChild= createNode(pCurrent->pos.x, pCurrent->pos.y);
			switch (i){
			case p_right:
	
				pChild->pos.y++;
				pChild->pos.g += ONE_len;
			
			break;
			
			case p_up:
			
				pChild->pos.x--;
				pChild->pos.g += ONE_len;
			break;
			case p_left:
			
				pChild->pos.y--;
				pChild->pos.g += ONE_len;
			break;
			case p_down:
				
				pChild->pos.x++;
				pChild->pos.g += ONE_len;
				
			break;
			}
			if (map[pChild->pos.x][pChild->pos.y] != 1//不是障碍物 
				&& poseMap[pChild->pos.x][pChild->pos.y] != 1)//没有走过 
			{
				//计算h值 
				pChild->pos.h = geth(pChild->pos, endpos);
				//计算f值 
				pChild->pos.f = pChild->pos.g + pChild->pos.h;
				//pChild->pos.setf();
				//入树 
				pCurrent->child.push_back(pChild);//试探点成为当前点的孩子 
				pChild->pParent = pCurrent;//当前点成为试探点的父 
				//存入buff数组 
				buff.push_back(pChild);
			}
			else {delete pChild;}//释放内存
		}
		//从buff里找出f值最小的点 
		itmin = buff.begin();//假设第一个最小 
		for (it = buff.begin(); it != buff.end(); it++)
		{
			itmin = (((*it)->pos.f < (*itmin)->pos.f) ? it : itmin);
		}
		//走 
		pCurrent = *itmin;
		//标记走过点 
		poseMap[pCurrent->pos.x][pCurrent->pos.y] = true;
		// 从buff中删掉 
		buff.erase(itmin);
		//判断是否找到终点 
		if (pCurrent->pos.x == endpos.x
				&& pCurrent->pos.y == endpos.y)
			{
				isfindend = true;
				break;
			}
		
	}
		if (isfindend)
		 {
		printf("找到终点了\n");

			while (pCurrent)
		 	{		//	printf("(%d,%d)", current->pos.row, current->pos.col);
			int q,e;
			q=pCurrent->pos.x;
			e=pCurrent->pos.y;
			map[q][e] = 2;
			pCurrent = pCurrent->pParent;
			}
 			make_map();
		}
		return 0;	
}

改变终点和起点的值，