User:GenkiDamaXL/sandbox

function A*(start,goal) closedset := the empty set   // The set of nodes already evaluated. openset := {start}   // The set of tentative nodes to be evaluated, initially containing the start node came_from := the empty map   // The map of navigated nodes. g_score[start] := 0   // Cost from start along best known path. // Estimated total cost from start to goal through y.    f_score[start] := g_score[start] + heuristic_cost_estimate(start, goal) while openset is not empty current := the node in openset having the lowest f_score[] value if current = goal return reconstruct_path(came_from, goal) remove current from openset add current to closedset for each neighbor in neighbor_nodes(current) if neighbor in closedset continue tentative_g_score := g_score[current] + dist_between(current,neighbor) if neighbor not in openset or tentative_g_score < g_score[neighbor] came_from[neighbor] := current g_score[neighbor] := tentative_g_score f_score[neighbor] := g_score[neighbor] + heuristic_cost_estimate(neighbor, goal) if neighbor not in openset add neighbor to openset return failure function reconstruct_path(came_from, current_node) if came_from[current_node] in set p := reconstruct_path(came_from, came_from[current_node]) return (p + current_node) else return current_node