广度优先搜索——地图导航

图搜索算法-广度优先
广度优先：bfs
注意事项
1、走直线，不能走斜线
2、理解为树的层次次序
3、如果有路，必然找到最短路径
4、需要遍历所有可通行的节点，如果地图比较大，开销就比较大
代码示例

#include <vector> 
using std::vector; 
#define MAP_ROW 6 
#define MAP_COL 8 
struct MyPoint { 
	int row, col;
};
enum PathDir { p_up, p_donw, p_left, p_right };
struct PathData { 
	int val; 
	PathDir dir; 
	bool isFind;
}; 
struct MyPathNode {
	MyPoint pos;
	MyPathNode* parent;
	vector<MyPathNode*> child;
};
void clearTree(MyPathNode*& root) {
	if (root) { 
		for (size_t i = 0; i < root->child.size(); ++i)
			clearTree(root->child[i]);
		delete root; 
		root = nullptr; 
	}
}
bool isCheckPoint(MyPoint const& pos, PathData arr[][MAP_COL]) {
	if (pos.row >= 0 && pos.row < MAP_ROW && pos.col >= 0 && pos.col < MAP_COL) {
		if (arr[pos.row][pos.col].val == 0 && arr[pos.row][pos.col].isFind == false)
			return true;
	}
	return false;
}
int main(int argc, char* argv[]) {
	int arr[MAP_ROW][MAP_COL] =
	{ { 0, 0, 0, 0, 0, 0, 0, 0 }, 
	  {0, 0, 0, 0, 0, 0, 0, 0 },
	  { 0, 1, 1, 0, 0, 0, 0, 0 }, 
	  { 0, 0, 0, 0, 0, 0, 0, 0 }, 
	  { 0, 0, 0, 0, 0, 0, 0, 0 }, 
	  { 0, 0, 0, 0, 0, 0, 1, 0 } 
	};
	PathData pathArr[MAP_ROW][MAP_COL];
	for (int i = 0; i < MAP_ROW; ++i) {
		for (int j = 0; j < MAP_COL; ++j) {
			pathArr[i][j].val = arr[i][j];
			pathArr[i][j].dir = p_up;
			pathArr[i][j].isFind = false; 
		}
	}
	MyPoint beginPoint = { 1, 1 };
	MyPoint endPoint = { 5, 7 };
	pathArr[beginPoint.row][beginPoint.col].isFind = true;
	MyPathNode* pRoot = nullptr;
	pRoot = new MyPathNode;
	pRoot->pos = beginPoint;
	pRoot->parent = nullptr;
	vector<MyPathNode*> nodeList;
	vector<MyPathNode*> tempNodeList; 
	nodeList.push_back(pRoot);
	MyPoint tempPoint;
	while (true) {
		for (int i = 0; i < (int)nodeList.size(); ++i) {
			for (int j = 0; j < 4; ++j) {
				tempPoint = nodeList[i]->pos;
				switch (j) {
				case p_up:
				tempPoint.row--;
				break;
				case p_donw: 
				tempPoint.row++;
				break;
				case p_left:
				tempPoint.col--;
				break;
				case p_right:
				tempPoint.col++;
				break;
				}
		if (isCheckPoint(tempPoint, pathArr)) { 
			MyPathNode* tempNode = new MyPathNode;
			tempNode->pos = tempPoint;
			tempNode->parent = nodeList[i];
			nodeList[i]->child.push_back(tempNode);
			pathArr[tempNode->pos.row][tempPoint.col].isFind = true;
			tempNodeList.push_back(tempNode);
			if (tempPoint.row == endPoint.row && tempPoint.col == endPoint.col) { 
				MyPathNode* pNode = tempNode;
				while (pNode) { 
					printf("row = %d,col = %d\n", pNode->pos.row, pNode -> pos.col); 
					pNode = pNode->parent; }
				goto OVERTAB;
			}
		}
			}
	}
		if (tempNodeList.size() == 0) 
			goto OVERTAB; 
		nodeList = tempNodeList;
		tempNodeList.clear();
	} 
OVERTAB: clearTree(pRoot);
	return 0;
}