A*算法的c++实现实例

由顶点和边组成的图，使用A*路径规划算法，实现从起点到终点的最短路径查找：

#include <iostream>
#include <vector>
#include <queue>
#include <algorithm>
#include <climits>
#include <map>

using namespace std;

const int INF = INT_MAX;

class Graph {
private:
	map<int, vector<pair<int, int>>> adj; // 使用map表示邻接表
	int V;

public:
	Graph(int vertices) : V(vertices) {}

	void addEdge(int u, int v, int weight) {
		adj[u].push_back(make_pair(v, weight)); // 添加边到邻接表
	}

	vector<int> shortestPath(int start, int end) {
		vector<int> dist(V, INF); // 初始化距离数组为无穷大
		vector<int> prev(V, -1); // 初始化前驱数组为-1
		dist[start] = 0; // 起始点到自身的距离为0

		priority_queue<pair<int, int>, vector<pair<int, int>>, greater<pair<int, int>>> pq;
		pq.push(make_pair(0, start)); // 将起始点加入优先队列

		while (!pq.empty()) {
			int u = pq.top().second;
			pq.pop();

			for (auto edge : adj[u]) {
				int v = edge.first;
				int weight = edge.second;

				if (dist[u] + weight < dist[v]) {
					dist[v] = dist[u] + weight;
					prev[v] = u;
					pq.push(make_pair(dist[v], v));
				}
			}
		}

		vector<int> path;
		for (int at = end; at != -1; at = prev[at]) {
			path.push_back(at);
		}
		reverse(path.begin(), path.end());

		return path;
	}
};

int main() {
	Graph g(6);

	g.addEdge(0, 1, 5);
	g.addEdge(0, 2, 3);
	g.addEdge(1, 3, 6);
	g.addEdge(1, 4, 2);
	g.addEdge(2, 1, 1);
	g.addEdge(2, 4, 4);
	g.addEdge(3, 5, 7);
	g.addEdge(4, 3, 1);
	g.addEdge(4, 5, 3);

	int start = 0;
	int end = 5;
	vector<int> path = g.shortestPath(start, end);

	cout << "Shortest path from " << start << " to " << end << " is: ";
	for (int i = 0; i < path.size(); ++i) {
		cout << path[i];
		if (i < path.size() - 1) {
			cout << " -> ";
		}
	}
	cout << endl;

	return 0;
}

输出结果为：Shortest path from 0 to 5 is: 0 -> 2 -> 1 -> 4 -> 5