A*算法golang實現的open、close列表的實現調研

https://github.com/beefsack/go-astar

有完整的測試案例，代碼全面性最好。
實現在 https://github.com/beefsack/go-astar/blob/master/astar.go

集成 open 和 close 在node類，然后用map管理這個node類****

// node is a wrapper to store A* data for a Pather node.
type node struct {
    pather Pather
    cost   float64
    rank   float64
    parent *node
    open   bool
    closed bool
    index  int
}
// nodeMap is a collection of nodes keyed by Pather nodes for quick reference.
type nodeMap map[Pather]*node

https://github.com/nickdavies/go-astar

推薦用這個。
使用map管理open、close列表
相關代碼在：https://github.com/nickdavies/go-astar/blob/master/astar/astar.go

var openList = make(map[Point]*PathPoint)
var closeList = make(map[Point]*PathPoint)

同時實現一個尋找map中最小權重的節點函數

func (a *gridStruct) getMinWeight(openList map[Point]*PathPoint) *PathPoint {
    var min *PathPoint = nil
    var minWeight int = 0

    for _, p := range openList {
        if min == nil || p.Weight < minWeight {
            min = p
            minWeight = p.Weight
        }
    }
    return min
}

https://github.com/towski/Golang-AStar

用數組管理
https://github.com/towski/Golang-AStar/blob/master/utils/utils.go

var openList, closeList, path []Point

存在檢查、查找都是用了數組遍歷。

github.com/fzipp/astar

close隊列使用的是map， open隊列使用的優先隊列

  closed := make(map[Node]bool)
    pq := &priorityQueue{}
    heap.Init(pq)
    heap.Push(pq, &item{value: newPath(start)})

open 列表找最小沒找到實現代碼。