A*算法golang实现的open、close列表的实现调研

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

有完整的测试案例，代码全面性最好。
实现在 https://github.com/beefsack/go-astar/blob/master/astar.go

集成 open 和 close 在node类，然后用map管理这个node类****

// 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

推荐用这个。
使用map管理open、close列表
相关代码在：https://github.com/nickdavies/go-astar/blob/master/astar/astar.go

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

同时实现一个寻找map中最小权重的节点函数

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

用数组管理
https://github.com/towski/Golang-AStar/blob/master/utils/utils.go

var openList, closeList, path []Point

存在检查、查找都是用了数组遍历。

github.com/fzipp/astar

close队列使用的是map， open队列使用的优先队列

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

open 列表找最小没找到实现代码。