A* algorithm 1, will begin to node placed in the and opening up list of (the began to node of the F and G values ​ ​ are regarded as 0) 2, repeat the the following steps: to Find a the has a the the smallest F value of the node in the the and opening up list of, and put Find a to the node as the current node current node is removed from the open list, added to the closed list.

astar.cpp

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