java a算法_A*算法（java实现）

package com.zhoujianxiang;

import java.util.Stack;

class Node{

boolean attainability; //节点是否可达到

int x,y; //节点的位置信息

int direction = 1;

int score;

String id = " ";

//Node leftNode,rightNode,upNode,downNode;

//Node fatherNode;

}

public class Puzzle {

Node[][] maze = null; //迷宫数组

Node startNode,endNode; //起始点，结束点

public Puzzle(){

//初始化迷宫数组~并指定起始点和结束点

maze = new Node[7][9];

for(int i=0;i<7;i++)

for(int j=0;j<9;j++){

maze[i][j] = new Node();

maze[i][j].attainability = true;

maze[i][j].x = i;

maze[i][j].y = j;

}

startNode = maze[3][2];

startNode.id = "&";

endNode = maze[3][6];

endNode.id = "@";

for(int i=0;i<7;i++){

maze[i][0].attainability = false;

maze[i][8].attainability = false;

}

for(int j=0;j<9;j++){

maze[0][j].attainability = false;

maze[6][j].attainability = false;

}

maze[4][3].attainability = false;

maze[2][4].attainability = false;

maze[3][4].attainability = false;

maze[4][4].attainability = false;

}

private void printMaze(){

for(int i=0;i<7;i++){

for(int j=0;j<9;j++){

if(maze[i][j].attainability)

if(maze[i][j] == startNode)

System.out.print("& ");

else if(maze[i][j] == endNode)

System.out.print("@ ");

else System.out.print(maze[i][j].id + " ");

else

if(i==0 || i==6 || j==0 ||j==8 || (i==4&&j==3) ||(i==2&&j==4) ||(i==3&&j==4) ||(i==4&&j==4))

System.out.print("# ");

else System.out.print(maze[i][j].id + " ");

}

System.out.println();

}

}

public void getPath(){

Stack s = new Stack();

Node curpos = startNode;

//int curstep = 1;

do{

if(curpos.attainability){

curpos.attainability = false;

if(curpos!=startNode && curpos!=endNode)

curpos.id = "%";

s.push(curpos);

if(curpos == endNode) printMaze();

Node tmp = nextPos(curpos,1);

curpos = maze[tmp.x][tmp.y];

// curpos.id++;

// curstep++;

}

else{

Node e = (Node)s.pop();

while(e.direction == 4 && !s.empty()){

e.attainability = false;

e = (Node)s.pop();

}

if(e.direction < 4){

e.direction++;

s.push(e);

Node tmp = nextPos(e,e.direction);

curpos = maze[tmp.x][tmp.y];

}

}

}while(!s.empty());

}

private Node nextPos(Node pos, int i){

//按东南西北的顺序

Node tmp = new Node();

tmp.direction = pos.direction;

tmp.attainability = pos.attainability;

int x = pos.x;

int y = pos.y;

if(i == 2 && x

x = x+1;

tmp.y = pos.y;

tmp.x = x;

}

else if(i == 4 && x != 0){ //北

x = x-1;

tmp.y = pos.y;

tmp.x = x;

}

else if(i == 1 && y

y = y+1;

tmp.x = pos.x;

tmp.y = y;

}

else if(i == 3 && y != 0){ //西

y = y - 1;

tmp.x = pos.x;

tmp.y = y;

}

return tmp;

}

public void Astar(){

getScore();

Stack open = new Stack(); //初始开启列表

open.push(startNode);

Stack close = new Stack(); //初始关闭列表

while(open.size()!=0){

Node x = (Node)open.pop();

if(x == endNode)

break;

Node[] t = null;

if(x.attainability){

t = getNear(x);

for(int i=0;i

if(t[i] != null){

if(open.search(t[i]) == -1 && close.search(t[i]) == -1)

open.push(t[i]);

else if(open.search(t[i]) != -1){

sort(open);

}

else{

if(t[i].score < ((Node)close.peek()).score){

sort(close);

open.push(close.pop());

}

}

}

}

close.push(x);

sort(open);

}

}

int a = close.size();

for(int i=0;i

Node tmp = (Node)close.pop();

tmp.id = "%";

maze[tmp.x][tmp.y] = tmp;

}

printMaze();

}

private void sort(Stack s) {

// 对一个栈里的元素按score排序，值最少的放在最上面。

Node[] t = new Node[s.size()];

Node tmp = null;

int x = s.size();

for(int i=0;i

t[i] = (Node)s.pop();

}

for(int i=0;i

for(int j=i+1;j

if(t[i].score < t[j].score){

tmp = t[i];

t[i] = t[j];

t[j] = tmp;

}

}

for(int i=0;i

s.push(t[i]);

}

private void getScore(){

for(int i=0;i

for(int j=0;j

maze[i][j].score = Math.abs(endNode.x - maze[i][j].x) + Math.abs(endNode.y - maze[i][j].y);

}

}

private Node[] getNear(Node e){

Node leftNode = (e.y!=0 ? maze[e.x][e.y-1] : null);

Node rightNode = (e.y!=maze[0].length-1 ? maze[e.x][e.y+1] : null);

Node upNode = (e.x!=0 ? maze[e.x-1][e.y] : null);

Node downNode = (e.x!=maze.length-1 ? maze[e.x+1][e.y] : null);

Node[] t = {leftNode,rightNode,upNode,downNode};

return t;

}

public static void main(String[] args){

Puzzle p = new Puzzle();

System.out.println("初始的迷宫如下：(其中&代表起点，@代表终点，#代表障碍)");

p.printMaze(); //输出初始化的迷宫

System.out.println();

System.out.println("简单的一条寻路路径如下：(按东南西北的顺序遍历寻路)");

p.getPath(); //输出搜寻从起始点到结束点的路径

p = new Puzzle();

System.out.println();

System.out.println("用A*算法寻路路径如下：");

p.Astar();

}

}