c++怎么实现一个简单的A寻路算法_c++简单A寻路实现方法

struct Node {
    int x, y;
    int g;          // 从起点到当前点的实际代价
    int h;          // 启发函数估计到终点的代价
    int f() const { return g + h; } // 总代价
    Node* parent;   // 指向父节点，用于回溯路径
<pre class='brush:php;toolbar:false;'>Node(int x, int y) : x(x), y(y), g(0), h(0), parent(nullptr) {}

bool operator==(const Node& other) const {
    return x == other.x && y == other.y;
}

int heuristic(int x1, int y1, int x2, int y2) {
    return abs(x1 - x2) + abs(y1 - y2);
}

#include <vector>
#include <algorithm>
#include <iostream>
<p>using namespace std;</p>
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                <p>// 地图大小和障碍物定义
const int ROW = 5, COL = 5;
bool maze[ROW][COL] = {
{0, 0, 0, 1, 0},
{0, 1, 0, 1, 0},
{0, 1, 0, 0, 0},
{0, 0, 0, 1, 1},
{0, 0, 0, 0, 0}
};</p><p>vector<Node<em>> getNeighbors(Node</em> node) {
int dx[] = {-1, 1, 0, 0};
int dy[] = {0, 0, -1, 1};
vector<Node*> neighbors;</p><pre class='brush:php;toolbar:false;'>for (int i = 0; i < 4; ++i) {
    int nx = node->x + dx[i];
    int ny = node->y + dy[i];

    if (nx >= 0 && nx < ROW && ny >= 0 && ny < COL && !maze[nx][ny]) {
        neighbors.push_back(new Node(nx, ny));
    }
}
return neighbors;

start->h = heuristic(start_x, start_y, end_x, end_y);
openList.push_back(start);

while (!openList.empty()) {
    // 找出f最小的节点
    auto current_it = min_element(openList.begin(), openList.end(),
        [](Node* a, Node* b) { return a->f() < b->f(); });
    Node* current = *current_it;

    // 到达终点
    if (*current == *end) {
        vector<Node> path;
        while (current != nullptr) {
            path.push_back(Node(current->x, current->y));
            current = current->parent;
        }
        reverse(path.begin(), path.end());

        // 释放内存
        for (auto node : openList) delete node;
        for (auto node : closedList) delete node;
        delete end;

        return path;
    }

    openList.erase(current_it);
    closedList.push_back(current);

    for (Node* neighbor : getNeighbors(current)) {
        // 如果已在closedList，跳过
        if (find_if(closedList.begin(), closedList.end(),
            [neighbor](Node* n) { return *n == *neighbor; }) != closedList.end()) {
            delete neighbor;
            continue;
        }

        int tentative_g = current->g + 1;

        auto it = find_if(openList.begin(), openList.end(),
            [neighbor](Node* n) { return *n == *neighbor; });

        if (it == openList.end()) {
            neighbor->g = tentative_g;
            neighbor->h = heuristic(neighbor->x, neighbor->y, end_x, end_y);
            neighbor->parent = current;
            openList.push_back(neighbor);
        } else {
            Node* existing = *it;
            if (tentative_g < existing->g) {
                existing->g = tentative_g;
                existing->parent = current;
            }
            delete neighbor;
        }
    }
}

// 没有找到路径
for (auto node : openList) delete node;
for (auto node : closedList) delete node;
delete end;

return {}; // 返回空路径

int main() {
    vector<Node> path = aStar(0, 0, 4, 4);
<pre class='brush:php;toolbar:false;'>if (path.empty()) {
    cout << "No path found!" << endl;
} else {
    cout << "Path found:" << endl;
    for (const auto& p : path) {
        cout << "(" << p.x << "," << p.y << ") ";
    }
    cout << endl;
}

return 0;