zhangpanyi / a-star-algorithm Goto Github PK
View Code? Open in Web Editor NEWC++实现的高效A*算法
License: MIT License
C++实现的高效A*算法
License: MIT License
我的命令是:g++ -std=c++11 main.c -o main
/tmp/ccXS7Q7e.o:在函数‘main’中:
main.cpp:(.text+0x3ca):对‘BlockAllocator::BlockAllocator()’未定义的引用
main.cpp:(.text+0x3e3):对‘AStar::AStar(BlockAllocator*)’未定义的引用
main.cpp:(.text+0x403):对‘AStar::find(AStar::Params const&)’未定义的引用
main.cpp:(.text+0x426):对‘AStar::~AStar()’未定义的引用
main.cpp:(.text+0x435):对‘BlockAllocator::~BlockAllocator()’未定义的引用
main.cpp:(.text+0x469):对‘AStar::~AStar()’未定义的引用
main.cpp:(.text+0x47d):对‘BlockAllocator::~BlockAllocator()’未定义的引用
你好, AStar :: calcul_h_value()函数的实现有误。
abs(end.y + end.x - current.y - current.x) 应该改为:
abs(end.x - current.x) + abs(end.y - current.y)
上面两种写法,是不等价的。 比如:考虑当end为(1, 2), current为(2, 1)时,上面两种写法结果不一样。
同理, astar.cpp里其他用到abs()函数的地方,也都有类似的问题,比如计算G值的函数。
麻烦你确认下。
你好,
Node结构体里的 g和h成员,类型建议改为 int , 用16位的无符号整型的话,溢出的可能性相对比较高。
个人建议,仅供参考。
你好, 经仔细阅读代码之后,发现 AStar :: clear() 函数里存在可能导致内存泄漏的bug:
该函数的while循环里的第二句代码(即 index++)应该去掉,否则会造成index变量在一次循环里自增了两次,正确的话应该是只自增一次。
麻烦你确认一下。
i cmake your projrct and reuse in my project , it is so slow !!
AStar类添加一个nearby_nodes_ 成员变量,然后做点相应调整,用于代替find()函数里的局部变量nearby_nodes
使用示例时,auto path = algorithm.find(param); 怎么显示vector里得数据?
感谢作者在我临急的时候提供了这个开源源码.
另:个人感觉可以把初始化地图生成数据去掉, 等寻到可用点的时候再动态生成, 寻路多数是不用遍历所有点的.可以减少内存申请和删除的开销.
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