基于A*算法的路径规划_Code

#pragma once
#include<list>
#include<vector>
 
using namespace std;
 
const int kCost1 = 10;//直移一格消耗
const int kCost2 = 14;//斜移一格消耗
 
typedef struct _Point
{
   
	int x, y;
	int F, G, H;//F=G+H
	struct _Point *parent;
}Point;
 
/*分配一个格子*/
Point *AllocPoint(int x, int y);
/*初始化地图*/
void InitAstarMaze(int *Maze, int lines, int colums);
/*A*算法寻找路径*/
list<Point*> GetPath(Point *startPoint, Point *endPoint);
/*清理资源*/
void ClearAstarMaze();
 

#include<math.h>
#include"AStar.h"
#include <iostream>
#include <vector>
 
static int *maze;//地图
static int cols;//列数
static int lines;//行数
 
static list<Point*>openList;
static list<Point*>closeList;
 
/*A*算法寻找路径*/
Point * isInList(const list<Point *> point, const Point *target);
static Point *GetLeastPoint();//找出openlist中F值最小的节点
static vector<Point*> GetSurroundPoints(const Point *point);//找到当前结点周围可达的节点
bool isCanreach(const Point *point, const Point *target);//判断这两点是否可达