c语言语法错误 缺少,VS2013编译不通过，error C2143: 语法错误 : 缺少“;”(在“<”的前面) - SegmentFault 思否...

这是AStar.h头文件#include

#include//双端队列

#include

#define STEP 10//单位长度

#define STEP_DIAGONAL 14//单位对角线长度

class Node{

private:

int x;

int y;

int g;//沿着生成的路径，从开始节点到指定区域的移动消耗(可以沿对角线走)

int h;//估算从指定区域格子到目的地格子的移动消耗(只准横着走，竖着走)

int f;//F=G+H

Node *father;

public:

static deque open, closed;

Node();

Node(int x, int y);

void setX(int x);

void setY(int y);

void setG(int g);

void setH(Node &goal);

void setF();

void setFather(int x, int y);

void setFather(Node &father);

void setFather(Node *father);

int getX();

int getY();

int getG();

int getH();

int getF();

Node* getFather();

static void addBarrier(int x, int y);

static void addBarrier(Node barrier);

Node operator=(const Node&);

bool operator==(const Node&);

Node createSunNode(int direction, Node goal);

static void addToOpen(Node node);

static void addToOpenWithOpenNotHave(Node node);//已经确认不在open表中

static void addToClosed(Node node);

static bool isInOpen(Node node);

static bool isInClosed(Node node);

void printNode();

};

这是AStar.cpp文件：#include

#include

#include

#include

#include

#include"AStar.h"

const int LEFT = 0;

const int LEFT_UP = 1;

const int UP = 2;

const int UP_RIGHT = 3;

const int RIGHT = 4;

const int RIGHT_DOWN = 5;

const int DOWN = 6;

const int LEFT_DOWN = 7;

using namespace std;

Node::Node() :x(0), y(0), g(0), h(0), f(0)

{

}

Node::Node(int x, int y) : x(x), y(y), g(0), h(0), f(0)

{

}

void Node::setX(int x)

{

this->x = x;

}

void Node::setY(int y)

{

this->y = y;

}

void Node::setG(int g)

{

this->g = g;

}

void Node::setH(Node &goal)

{

this->h = abs(goal.x - this->x) + abs(goal.y-this->y);//横坐标差的绝对值+纵坐标差的绝对值

}

void Node::setF()

{

this->f = this->g + this->h;

}

void Node::setFather(int x, int y)

{

this->father->x = x;

this->father->y = y;

}

void Node::setFather(Node &father)

{

this->father->x = father.x;

this->father->y = father.y;

this->father->g = father.g;

this->father->h = father.h;

this->father->f = father.f;

}

void Node::setFather(Node *father)

{

this->father->x = father->x;

this->father->y = father->y;

this->father->g = father->g;

this->father->h = father->h;

this->father->f = father->f;

}

int Node::getX()

{

return x;

}

int Node::getY()

{

return y;

}

int Node::getG()

{

return g;

}

int Node::getH()

{

return h;

}

int Node::getF()

{

return f;

}

Node* Node::getFather()

{

return father;

}

void Node::addBarrier(int x, int y)

{

Node node(x,y);

closed.push_back(node);

}

void Node::addBarrier(Node barrier)

{

closed.push_back(barrier);

}

Node Node::operator=(const Node& nodeOrigin)

{

this->x = nodeOrigin.x;

this->y = nodeOrigin.y;

this->g = nodeOrigin.g;

this->h = nodeOrigin.h;

this->f = nodeOrigin.f;

this->setFather(nodeOrigin.father);

return *this;

}

bool Node::operator==(const Node& node)

{

return this->x==node.x&&this->y==node.y;

}

Node Node::createSunNode(int direction, Node goal)

{

Node sun = *this;//C++在this对象指针前面加*表示对象。

//

switch (direction)

{

case LEFT:

sun.setX(sun.getX() - 1);

break;

case LEFT_UP:

sun.setX(sun.getX() - 1);

sun.setY(sun.getY() - 1);

break;

case UP:

sun.setY(sun.getY() - 1);

sun.setG(sun.getG()+STEP);

break;

case UP_RIGHT:

sun.setX(sun.getX() + 1);

sun.setY(sun.getY() - 1);

break;

case RIGHT:

sun.setX(sun.getX() + 1);

break;

case RIGHT_DOWN:

sun.setX(sun.getX() + 1);

sun.setY(sun.getY() + 1);

break;

case DOWN:

sun.setY(sun.getY() + 1);

break;

case LEFT_DOWN:

sun.setX(sun.getX() - 1);

sun.setY(sun.getY() + 1);

break;

default:

break;

}

if (direction%2==0)

{

//上下左右直走,STEP

sun.setG(sun.getG()+STEP);

}

else

{

//对角线,STEP_DIAGONAL

sun.setG(sun.getG()+STEP_DIAGONAL);

}

sun.setH(goal);

sun.setF();

//

return sun;

}

void Node::addToOpen(Node node)

{

if (isInClosed(node))

{

return;

}

//检查是否在open

bool isInOpen = false;

deque::iterator iter;//iter是Node*类型

for (iter = open.begin(); iter != open.end();iter++)

{

if (*iter==node)

{

isInOpen = true;

break;

}

}

if (isInOpen)

{

//是否G成本更低

if (node.getG()getG()))

{

//是，改变在open表中的这个node节点的父节点

iter->setFather(node.getFather());

//重新根据F值排序

Node temp = *iter;

open.erase(iter);

//iter不能再用了，因为删除操作使iter失效了

addToOpenWithOpenNotHave(temp);

}

else

{

//否，do nothing

}

}

else

{

addToOpenWithOpenNotHave(node);

}

}

//已经确认要添加的node不在open表中

void Node::addToOpenWithOpenNotHave(Node node)

{

//不在open表中，加入open(open表按F值从大到小排列)

if (open.size()>0)

{

for (int i = open.size() - 1; i >= 0; i--)

{

if (open[i].getF() >= node.getF())

{

//这里可能有问题

open.insert(open.begin() + i, node);

break;

}

else

{

if (i == 0)

{

open.push_front(node);

}

}

}

}

else

{

open.push_back(node);

}

}

void Node::addToClosed(Node node)

{

closed.push_back(node);

}

bool Node::isInOpen(Node node)

{

bool isInOpen = false;

deque::iterator iter;//iter是Node*类型

for (iter = open.begin(); iter != open.end(); iter++)

{

if (*iter == node)

{

isInOpen = true;

break;

}

}

return isInOpen;

}

bool Node::isInClosed(Node node)

{

bool result = false;

for (int i = 0; i < closed.size(); i++)

{

if (closed[i] == node)

{

return true;

}

}

return result;

}

void Node::printNode()

{

cout << "x = "<x<

<y<

<g<

<h<

<f<

}

test.cpp文件：#include"AStar.h"

#include

using namespace std;

int main()

{

Node original(1,2);

Node goal(5,2);

Node::addToClosed(goal);

Node::addToOpenWithOpenNotHave(original);

Node::addBarrier(3,1);

Node::addBarrier(3,2);

Node::addBarrier(3,3);

Node lastOne = Node::open.back();

if (lastOne==goal)

{

cout << "success" << endl;

lastOne.printNode();

}

Node::closed.push_back(lastOne);

Node::open.pop_back();

//生成并添加子节点

for (int i = 0; i < 8;i++)

{

Node sun = lastOne.createSunNode(i, goal);

Node::addToOpen(sun);

}

return 0;

}

其中在AStar.h头文件的static deque open, closed;这一行，编译报错