java a >2_Java A* 算法(2)

if(Arrays.binarySearch(isPass,map[fy][fx]) = 0) { Node node2 = new Node(fx, fy); node2.parent = node; node2.G = node.G + 10; //采用manhattan启发算法 两点中的直角 距离 node2.H = Math.abs((ex-fx+ey-fy)

if(Arrays.binarySearch(isPass,map[fy][fx]) >= 0)　　{

Node node2 = new Node(fx, fy);

node2.parent = node;

node2.G = node.G + 10;

//采用manhattan启发算法  两点中的直角 距离

node2.H = Math.abs((ex-fx+ey-fy)*10);

node2.F = node2.G + node2.H;

OpenList.add(node2);

}

}

if(flag==false)

{

break;

}

if(OpenList.size()==0)

{

return null;

}

node = MinF(OpenList);

OpenList.remove(node);

CloseList.add(node);

}

ArrayList Path = new ArrayList();

node = end;

while(node.parent!=null)

{

Path.add(node);

node = node.parent;

}

return Path;

}

public Node MinF(List list)

{

Node min= list.get(0);

for(int i = 0; i

{

if(list.get(i).F<=min.F)

{

min = list.get(i);

}

}

return min;

}

public boolean containOpen(int x,int y)

{

for(Node node : OpenList)

{

if(node.equals(x,y))

{

return true;

}

}

return false;

}

public Node getOpen(int x,int y)

{

for(Node node : OpenList)

{

if(node.equals(x,y))

{

return node;

}

}

return null;

}

public boolean containClose(int x,int y)

{

for(Node node : CloseList)

{

if(node.equals(x,y))

{

return true;

}

}

return false;

}

}