- [参考链接2](https://blog.csdn.net/yuxuan20062007/article/details/86767355)

a_star.cpp

#include "stdafx.h"
#include "Astar.h"
int map[101][101] =
{
	{0,0,0,1,0,1,0,0,0},
	{0,0,0,1,0,1,0,0,0},
	{0,0,0,0,0,1,0,0,0},
	{0,0,0,1,0,1,0,1,0},
	{0,0,0,1,0,1,0,1,0},
	{0,0,0,1,0,0,0,1,0},
	{0,0,0,1,0,0,0,1,0}
};
Astar::Astar()
{
}
Astar::~Astar()
{
}
void Astar::search( Node* startPos,Node* endPos )
{
	if (startPos->x < 0 || startPos->x > row || startPos->y < 0 || startPos->y >col
		||
		endPos->x < 0 || endPos->x > row || endPos->y < 0 || endPos->y > col)
		return ;
	Node* current;
	this->startPos = startPos;
	this->endPos = endPos;
	openList.push_back(startPos);
	//主要是这块，把开始的节点放入openlist后开始查找旁边的8个节点，如果坐标超长范围或在closelist就return 如果已经存在openlist就对比当前节点到遍历到的那个节点的G值和当前节点到原来父节点的G值 如果原来的G值比较大 不用管 否则重新赋值G值 父节点 和f 如果是新节点 加入到openlist直到opellist为空或找到终点
	while(openList.size() > 0)
	{
		current = openList[0];
		if (current->x == endPos->x && current->y == endPos->y)
		{
			cout<<"find the path"<<endl;
			printMap();
			printPath(current);
			openList.clear();
			closeList.clear();
			break;
		}
		NextStep(current);
		closeList.push_back(current);
		openList.erase(openList.begin());
		sort(openList.begin(),openList.end(),compare);
	}
}
void Astar::checkPoit( int x,int y,Node* father,int g)
{
	if (x < 0 || x > row || y < 0 || y > col)
		return;
	if (this->unWalk(x,y))
		return;
	if (isContains(&closeList,x,y) != -1)
		return;
	int index;
	if ((index = isContains(&openList,x,y)) != -1)
	{
		Node *point = openList[index];
		if (point->g > father->g + g)
		{
			point->father = father;
			point->g = father->g + g;
			point->f = point->g + point->h;
		}
	}
	else
	{
		Node * point = new Node(x,y,father);
		countGHF(point,endPos,g);
		openList.push_back(point);
	}
}
void Astar::NextStep( Node* current )
{
	checkPoit(current->x - 1,current->y,current,WeightW);//左
	checkPoit(current->x + 1,current->y,current,WeightW);//右
	checkPoit(current->x,current->y + 1,current,WeightW);//上
	checkPoit(current->x,current->y - 1,current,WeightW);//下
	checkPoit(current->x - 1,current->y + 1,current,WeightWH);//左上
	checkPoit(current->x - 1,current->y - 1,current,WeightWH);//左下
	checkPoit(current->x + 1,current->y - 1,current,WeightWH);//右下
	checkPoit(current->x + 1,current->y + 1,current,WeightWH);//右上
}
int Astar::isContains(vector<Node*>* Nodelist, int x,int y )
{
	for (int i = 0;i < Nodelist->size();i++)
	{
		if (Nodelist->at(i)->x == x && Nodelist->at(i)->y == y)
		{
			return i;
		}
	}
	return -1;
}
void Astar::countGHF( Node* sNode,Node* eNode,int g)
{
	int h = abs(sNode->x - eNode->x) * WeightW + abs(sNode->y - eNode->y) * WeightW;
	int currentg = sNode->father->g + g;
	int f = currentg + h;
	sNode->f = f;
	sNode->h = h;
	sNode->g = currentg;
}
bool Astar::compare( Node* n1,Node* n2 )
{
	//printf("%d,%d",n1->f,n2->f);
	return n1->f < n2->f;
}
bool Astar::unWalk( int x,int y)
{
	if (map[x][y] == 1)
		return true;
	return false;
}
void Astar::printPath( Node* current )
{
	if (current->father != NULL)
		printPath(current->father);
	map[current->x][current->y] = 6;
	printf("(%d,%d)",current->x,current->y);
}
void Astar::printMap()
{
	for(int i=0;i<=row;i++){
		for(int j=0;j<=col;j++){
			printf("%d ",map[i][j]);
		}
		printf("\n");
	}
}

a_star.h

#ifndef ASTAR_H
#define ASTAR_H
#include <iostream>
#include <queue>
#include <vector>
#include <stack>
#include<algorithm>
using namespace std;
 
typedef struct Node
{
	int x,y;
	int g; //起始点到当前点实际代价
	int h;//当前节点到目标节点最佳路径的估计代价
	int f;//估计值
	Node* father;
	Node(int x,int y)
	{
		this->x = x;
		this->y = y ;
		this->g = 0;
		this->h = 0;
		this->f = 0;
		this->father = NULL;
	}
	Node(int x,int y,Node* father)
	{
		this->x = x;
		this->y = y ;
		this->g = 0;
		this->h = 0;
		this->f = 0;
		this->father = father;
	}
}Node;
 
class Astar{
public:
	Astar();
	~Astar();
	void search(Node* startPos,Node* endPos);
	void checkPoit(int x,int y,Node* father,int g);
	void NextStep(Node* currentPoint);
	int isContains(vector<Node*>* Nodelist ,int x,int y);
	void countGHF(Node* sNode,Node* eNode,int g);
	static bool compare(Node* n1,Node* n2);
	bool unWalk(int x,int y);
	void printPath(Node* current);
	void printMap();
	vector<Node*> openList;
	vector<Node*> closeList;
	Node *startPos;
	Node *endPos;
	static const int WeightW = 10;// 正方向消耗
	static const int WeightWH = 14;//打斜方向的消耗
	static const int row = 6;
	static const int col = 8;
};
#endif

main.cpp

// Astar.cpp : Definiert den Einstiegspunkt für die Konsolenanwendung.
//
 
#include "stdafx.h"
#include "Astar.h"
 
int _tmain(int argc, _TCHAR* argv[])
{
	Astar astar;
	Node *startPos = new Node(5,1);
	Node *endPos = new Node(3,8);
 
	//astar.printMap();
	astar.search(startPos,endPos);
	cout<<endl;
	astar.printMap();
	system("pause");
	return 0;
}