A *（A星）搜索算法实现仍无效

Question

自从我更新它之后，我的其他帖子没有得到回复，我真的需要一些帮助，所以我要重新发布。下面的代码是重要的位，但是完整代码的链接在这里：https://github.com/amstrudy/nao-ncsu/blob/master/oop_a_star.py

我一直在Wikipedia pseudocode跟进Python中的A *实现。我的代码达到了目标，但我似乎无法弄清楚如何重建实际路径。它不起作用，因为更新cameFrom的代码段仅在达到目标时更新一次。我真的不明白，但这就是维基百科文章中的伪代码。

def a_star ():

    # create node object for home
    home_node = Node(home, goal, home)

    # set of nodes already evaluated
    closedSet = []

    # set of currently discovered nodes that are not evaluated yet
    # initially, only the start node is known
    openSet = [home_node]

    while len(openSet) != 0:

        minIndex = 0;
        for i in list(range(len(openSet))):
            if openSet[i] < openSet[minIndex]:
                minIndex = i
        cur_node = openSet[minIndex] # expand on node with smallest fScore

        cur_node.generateNeighbors() # make new nodes to check

        if cur_node.location == home_node.goal:
            print("Made it to the goal!")
            return reconstruct(cur_node)

        openSet.pop(minIndex)
        closedSet.append(cur_node)

        for neighbor in cur_node.neighbors:

            if neighbor in closedSet:
                continue

            if neighbor not in openSet:
                openSet.append(neighbor)

            if neighbor.gScore >= cur_node.gScore:
                print(neighbor.gScore)
                print(cur_node.gScore)
                continue # this is not eh better path

            # this path is the best for now, so record it
            neighbor.cameFrom = cur_node

        print(cur_node)
        printMap(cur_node.location)

def reconstruct(target):
    path = []
    while target:
        print("here")
        path.append(target.location)
        target = target.cameFrom
    return path

对于评论这是重复的人：是的。我没有收到旧帖子的回复，所以我编辑并重新发布。我将删除旧帖子。