A*（A星）算法Go lang实现

之前发表一个A*的python实现，连接：点击打开链接

最近正在学习Go语言，基本的语法等东西已经掌握了。但是纸上得来终觉浅，绝知此事要躬行嘛。必要的练手是一定要做的。正好离写python版的A*不那么久远。这个例子复杂度中等。还可以把之前用python实现是没有考虑的部分整理一下。

这一版的GO实现更加模块化了，同时用二叉堆来保证了openlist的查找性能。可以说离应用到实现工程中的要求差距不太远了。

如果有谁觉得代码有用的话可以拿去用，但是必须通知我一下。这个要求不高吧。

package main

import (
	"container/heap"
	"fmt"
	"math"
	"strings"
)
import "strconv"

type OpenList []*_AstarPoint

func (self OpenList) Len() int           { return len(self) }
func (self OpenList) Less(i, j int) bool { return self[i].fVal < self[j].fVal }
func (self OpenList) Swap(i, j int)      { self[i], self[j] = self[j], self[i] }

func (this *OpenList) Push(x interface{}) {
	// Push and Pop use pointer receivers because they modify the slice's length,
	// not just its contents.
	*this = append(*this, x.(*_AstarPoint))
}

func (this *OpenList) Pop() interface{} {
	old := *this
	n := len(old)
	x := old[n-1]
	*this = old[0 : n-1]
	return x
}


type _Point struct {
	x    int
	y    int
	view string
}

//========================================================================================

// 保存地图的基本信息
type Map struct {
	points [][]_Point
	blocks map[string]*_Point
	maxX   int
	maxY   int
}

func NewMap(charMap []string) (m Map) {
	m.points = make([][]_Point, len(charMap))
	m.blocks = make(map[string]*_Point, len(charMap)*2)
	for x, row := range charMap {
		cols := strings.Split(row, " ")
		m.points[x] = make([]_Point, len(cols))
		for y, view := range cols {
			m.points[x][y] = _Point{x, y, view}
			if view == "X" {
				m.blocks[pointAsKey(x, y)] = &m.points[x][y]