A*算法控制台版代码 亲测通过~~~~

#include<iostream>
#include<math.h>
#include<vector>
using namespace std;
const int I = 10;
const int J = 10;
const	int start = 55 ;
const	int endPoint   = 58 ;
bool    deadLoop       = true;

struct node
{
	int m_G;
	node* m_parent;
	int m_index;
	int m_place;//0 1 -1 1:open,-1:close;

};

vector <node*> v_open;
vector <node*> v_close;
const	int map[10][10] = {
{0,0,0,0,0,0,0,0,0,0},//0
{0,0,0,0,0,0,0,0,0,0},//1
{0,0,0,0,0,0,0,0,0,0},//2
{0,0,0,0,0,0,0,0,0,1},//3
{1,1,1,1,1,1,1,1,0,1},//4
{0,0,0,0,0,0,0,1,0,0},//5
{0,1,1,1,1,1,1,1,0,0},//6
{0,0,0,0,0,0,0,0,0,1},//7
{0,1,1,1,1,0,1,1,1,1},//8
{0,0,0,0,0,0,0,0,0,0}///9
};

void index2ij(int index,int &i,int &j)
{
	i = index / I;
	j = index % I;
}
//----------------------------        open 里是否有位置index的结点    -----------/
node* isInOpenVec(int index)
{
	vector<node*>::iterator iter; 
	node* result = NULL;
	for (iter=v_open.begin();iter!=v_open.end();iter++)  
	{  
		if(index == (*iter)->m_index)
		{  
			result = *iter;
			break;
		}
	} 
	return result;
}
//----------------------------       close 里是否有位置index的结点    -----------/
node* isInCloseVec(int index)
{
	vector<node*>::iterator iter; 
	node* result = NULL;
	for (iter=v_close.begin();iter!=v_close.end();iter++)  
	{  
		if(index == (*iter)->m_index)
		{
			result = *iter;
			break;
		}
	} 
	return result;
}
//----------------属于左边界的点---
bool isLeftEdge(int index)
{
	int leftEdge[10]  = {0,10,20,30,40,50,60,70,80,90};
	for(int i = 0; i < 10; i ++)
		if(index == leftEdge[i])
			return true;
	return  false;
}
//----------------属于右边界的点---
bool isRightEdge(int index)
{ 
	int rightEdge[10] = {9,19,29,39,49,59,69,79,89,99};
	for(int i = 0; i < 10; i ++)
		if(index == rightEdge[i])
			return true;
	return  false;
}
//----------------------------      周边的结点链到中心结点parent上 并放到opeen vector里    -----------/
void addNode2Paret(node* parent)
{
	parent->m_index;
	int index    = parent->m_index;
	int a[9]     = {0, -J-1,-J,-J+1,  -1,1,   J-1,J,J+1};
	int delta[9] = {0,14,10,14,10,10,14,10,14};
	for(int i = 1; i <= 8; i++)
	{
		int b = index+a[i];
		if(b >=100 || b < 0  ) //不存在此结点
			continue;
		if(isLeftEdge(index) && (i == 1 || i == 4 || i == 6))
			//左边界不能往左找，
				continue;
		if(isRightEdge(index) && (i == 3 || i == 5 || i == 8))//右边界不能往右找
			continue;
		int m,n;
		index2ij(b,m,n);
		if (map[m][n] != 0)
		{
			continue;
		}
		node* pInOpen = isInOpenVec(b);
		if(pInOpen)  //在v_open里了
		{
			int newG = delta[i] + parent->m_G;
			if(newG < pInOpen->m_G)
			{
				pInOpen->m_G = newG;
				pInOpen->m_parent = parent;
				
			}
			
			continue;
		}

		if( !isInCloseVec(b)) //没找过该点
		{
			node *child = new node;
			child->m_index  = b;
			child->m_parent = parent;
			child->m_G      = parent->m_G + delta[i];
			child->m_place  = 1;
			v_open.push_back(child);
		}
	}
}
//----------------------------  两个不同index之间路程代价    -----------/
int distanceFromA2B(int index_a,int index_b)
{
	int i1,i2,j1,j2;
	i1 = i2 = j1 = j2 = 0;
	index2ij(index_a,i1,j1);
	index2ij(index_b,i2,j2);
	int distance = sqrt( (i1-12)*(i1-12) + (j1-j2)*(j1-j2) ) * 10;
	return distance;
}


//----------------------------  在open 里找一个到终点最小的结点    -----------/
node* findMinNode2EndInOpen()
{
	int min = 0xFFFFFFF;
	vector<node*>::iterator iter; 
	node* result = NULL;

	int deleteWhere = 0;
	for (int i = 0; i < v_open.size();i++)  
	{   
		node* p = v_open[i];
		int a = distanceFromA2B(p->m_index,endPoint);
		a    += p->m_G;
		cout<<min<<"==="<<a<<endl;
		if(min > a)
		{
			result = p;
			min    = a;	
			deleteWhere = i;
		}

	} 
	if (v_open.size() > 0)
	{
		v_open.erase(v_open.begin() + deleteWhere);//删掉后返回值还有 已确认
	}

	return result;
}
void deleteVec()
{
	for (int i = 0; i < (int)v_open.size(); i++)  
	{  
		delete v_open[i];  
	}  
	for (int i = 0; i < (int)v_close.size(); i++)  
	{  
		delete v_close[i];  
	}  

}

void main()
{
	node* p = new node;
	p->m_G      = 0;
	p->m_index  = start;
	p->m_place  = 1;
	p->m_parent = NULL;
	v_close.push_back(p);
	//A* 核心 close 放找过的点，open放将要找的点 从open里找出到终点最小代价的值为当前下一搜索点，  
	//每次搜索当前点的时候，把其四周结点加当进来，且当前点为父结点
	//算法参考http://blog.csdn.net/dssdss123/article/details/11494065
	do
	{ 
		deadLoop          = true;
		node* pcur = v_close.back();
		if(!pcur) //没找到，搜索结束
			break;
		if(pcur->m_index == endPoint)//已找到，搜索结束
		{ 
			deadLoop          = false;
			break;
		}
		addNode2Paret(pcur);
		node* p  = findMinNode2EndInOpen();
		if (p)
		{
				deadLoop          = false;
				v_close.push_back(p);
		}
	}while(!deadLoop);//!v_open.empty()
	node *pp0 = v_close.back();
	cout<<"sssssssssssssssssssssssssssssssssssss";

	while (pp0 && !deadLoop)
	{
		cout<<pp0->m_index<<endl;
		pp0 = pp0->m_parent;
	}
	if (deadLoop)
	{
		cout<<"no path";
	}
	deleteVec();
	getchar();
}