A *寻路数据结构

Question

我目前正在尝试按照当前的A *伪代码（来自维基百科）编写我的A *算法：

function A*(start,goal)
    closedset := the empty set    // The set of nodes already evaluated.
    openset := {start}    // The set of tentative nodes to be evaluated, initially containing the start node
    came_from := the empty map    // The map of navigated nodes.

    g_score[start] := 0    // Cost from start along best known path.
    // Estimated total cost from start to goal through y.
    f_score[start] := g_score[start] + heuristic_cost_estimate(start, goal)

    while openset is not empty
        current := the node in openset having the lowest f_score[] value
        if current = goal
            return reconstruct_path(came_from, goal)

        remove current from openset
        add current to closedset
        for each neighbor in neighbor_nodes(current)
            if neighbor in closedset
                continue
            tentative_g_score := g_score[current] + dist_between(current,neighbor)

            if neighbor not in openset or tentative_g_score < g_score[neighbor] 
                came_from[neighbor] := current
                g_score[neighbor] := tentative_g_score
                f_score[neighbor] := g_score[neighbor] + heuristic_cost_estimate(neighbor, goal)
                if neighbor not in openset
                    add neighbor to openset

    return failure

function reconstruct_path(came_from,current)
    total_path := [current]
    while current in came_from:
        current := came_from[current]
        total_path.append(current)
    return total_path

我使用PriorityQueue进行openset和closedset各自，但我不确定该怎么用于＆＃34; came_from＆＃34;导航节点的地图。有关系吗？我也应该使用优先级队列吗？或者一个简单的List会吗？

谢谢！

Answer 1

我最终最终使用了C＃字典数据结构，如果有兴趣的话，它运作良好。