struct node {
node *parent;
int x, y;
float f, g, h;
}
// A*
initialize the open list
initialize the closed list
put the starting node on the open list (you can leave its f at zero)
while the open list is not empty
find the node with the least f on the open list, call it "q"
pop q off the open list
generate q's 8 successors and set their parents to q
for each successor
if successor is the goal, stop the search
successor.g = q.g + distance between successor and q
successor.h = distance from goal to successor
successor.f = successor.g + successor.h
if a node with the same position as successor is in the OPEN list \
which has a lower f than successor, skip this successor
if a node with the same position as successor is in the CLOSED list \
which has a lower f than successor, skip this successor
otherwise, add the node to the open list
end
push q on the closed list
end
