python a星算法_A星算法_A*算法_python实现

class Node:

def __int__(self):

self.unable = False

self.distanceFromDes = -1 # 距离终点的距离

self.distanceFromOri = -1 # 距离起点的距离

self.allDistance = -1

self.added = False

self.closed = False

self.parent = None

self.x = -1

self.y = -1

def GenerateMap(m, n):

map = list()

for j in range(m):

nodeRow = list()

map.append(nodeRow)

for i in range(n):

node = Node()

node.y = j

node.x = i

node.unable = False

node.distanceFromDes = -1 # 距离终点的距离

node.distanceFromOri = -1 # 距离起点的距离

node.allDistance = -1

node.added = False

node.closed = False

node.parent = None

nodeRow.append(node)

return map

def SetUnableMapNode(map, ls=()): # 要求一个坐标队列，里边的点上的Node的unable == True

for index in ls:

map[index[0]][index[1]].unable = True

return map

def GetDistanceFromDes(map, mapSize, desIndex): # map二维数组，mapsize(m,n),desIndex终点坐标

for ls in map:

for node in ls:

node.added = False

desNode = map[desIndex[0]][desIndex[1]]

desNode.distanceFromDes = 0

addedList = list() # 已经加入的队列，已有值distanceFromDes

needList = list() # 待加入的队列，需要评估值distanceFromDes

addedList.append(desNode)

desNode.added = True

while(len(addedList) != 0): #