void CAstar::Astar(CAstarNode*& result)
{
CAstarNode s0(m_hgevStart,0,CalculateH(m_hgevStart),NULL);
//open表中插入起点
m_vOpenList.push_back(s0);
make_heap(m_vOpenList.begin(),m_vOpenList.end());
// CAstarNode* min;
while(!m_vOpenList.empty())
{
//pop出堆顶节点
pop_heap(m_vOpenList.begin(),m_vOpenList.end(),cmpAstarNode);
result = new CAstarNode(m_vOpenList.back().m_hgevCoordinate,m_vOpenList.back().m_nG,
m_vOpenList.back().m_nH, m_vOpenList.back().m_pParent);
//若节点是目标节点，则返回
if(result->m_hgevCoordinate == m_hgevGoal)
{
// memcpy(result,&min,sizeof(CAstarNode));
return ;
}
m_vOpenList.pop_back();
// make_heap(m_vOpenList.begin(),m_vOpenList.end());
//扩展该节点
ExtendNode(result);
// make_heap(m_vOpenList.begin(),m_vOpenList.end());
m_vClosedList.push_back(*result);
}
result = NULL;
}
NODE *create_tree_sub (const char **tree_str, NODE * parent, TREE * tree)
{
NODE *node,*node_new;
char c;
int bufflen;
double l;
char * name;
node = CreateNode ();
if (parent != NULL) {
node->nbran++;
node->branch[0] = parent;
}
else{
(*tree_str)++;
}
while ( (c = GetTreeElt (tree_str)) != EOF) {
if (c == '(') {
node->branch[node->nbran]
= create_tree_sub (tree_str, node, tree);
(node->branch[node->nbran])->bnumber = tree->n_br;
tree->branches[tree->n_br++] = node->branch[node->nbran++];
if ( node->nbran >= node->maxbran - 1 ){ ExtendNode(node); }
}
else if (c == ')') {
node->branch[node->nbran] = NULL;
return node;
}
else if (c == ',') {
node_new = CreateNode();
node->branch[node->nbran] = node_new;
node_new->bnumber = tree->n_br;
tree->branches[tree->n_br++] = node->branch[node->nbran];
CHILD (node, node->nbran)->branch[0] = node;
CHILD (node, node->nbran)->branch[1] = NULL;
CHILD (node, node->nbran)->nbran = 1;
name = GetLeafName(tree_str);
bufflen = 1+strlen(name);
node_new->name = malloc (bufflen*sizeof(char));
strncpy(node_new->name,name,bufflen);
if ( insertelt_rbtree(tree->leaves,name,node_new) ){
fprintf(stderr,"Species name %s already used in tree. Please make unique and rerun program.\n",name);
exit(EXIT_FAILURE);
}
tree->n_sp++; node->nbran++;
if ( node->nbran >= node->maxbran - 1){ ExtendNode(node); }
}
else if (c == ':') {
l = GetLength (tree_str);
node->blength[node->nbran - 1] = l;
CHILD (node, node->nbran - 1)->blength[0] = l;
}
}
fprintf (stderr,"Error creating tree.\n");
fprintf (stderr,"Tree string is %s.\n",*tree_str);
fprintf (stderr,"This is probably a bug. Please report to [email protected]\n");
print_tree(stderr, parent,parent,tree);
exit(EXIT_FAILURE);
return node;
}
