A *寻路问题。编译但行为异常

我最近对A *搜索算法感到不满。我曾经尝试过，但没有成功，但是这次我取得了一定的成功。它总是找到一条路径，除非它不能（显然），并且通常接近最短的路径。其他时候，它的作用确实很棘手，因为它加了太多次，呈锯齿状，随机向错误的方向移动。真奇怪 屏幕截图在这里。

代码如下：

int manhattan( Coord a, Coord b )
{

    int x = abs(b.x-a.x);
    int y = abs(b.y-a.y);
    return x+y;

}

std::vector<Coord> AStar( std::vector< std::vector< int > > grid, Point start, Point end )
{

    //The current 'focal' point.
    Point *cur;

    //The open and closed lists.
    std::vector< Point* > closed;
    std::vector< Point* > open;

    //Start by adding the starting position to the list.
    open.push_back( &start );

    //Just so it knows whether or not to try and reconstruct a path.
    bool error = true;

    while( open.size() > 0 )
    {

        //The current point is the first entry in the open list.
        cur = open.at(0);

        if( cur->getPos() == end.getPos() )
        {

            error = false;
            break;

        }

        //Add in all the neighbors of the current point.
        for( int y = -1; y <= 1; y++ )
        {

            for( int x = -1; x <= 1; x++ )
            {

                int curX = cur->getPos().x+x;
                int curY = cur->getPos().y+y;

                int movCost = 10;

                //If it is a diagonal, make it cost 14 instead of 10.
                if( (y == -1 && x == -1)||
                    (y ==  1 && x == -1)||
                    (y == -1 && x ==  1)||
                    (y ==  1 && x ==  1))
                {

                    movCost = 14;
                    //continue;

                }

                Coord temp( curX, curY );
                bool make = true;

                //If it is outside the range of the map, continue.
                if( curY >= grid.size() || 
                    curX >= grid.size() )
                {

                    continue;
                }

                /*

                These two loops are to check whether or not the point's neighbors already exist.
                This feels really sloppy to me. Please tell me if there is a better way.

                */
                for( int i = 0; i < open.size(); i++ )
                {

                    if( temp == open.at(i)->getPos() )
                    {

                        make = false;
                        break;

                    }

                }

                for( int i = 0; i < closed.size(); i++ )
                {

                    if( temp == closed.at(i)->getPos() )
                    {

                        make = false;
                        break;

                    }

                }

                //If the point in the map is a zero, then it is a wall. Continue.
                if( (grid.at(temp.x).at(temp.y) == 0 ) ||
                    ( temp.x<0 || temp.y < 0 ) )
                {

                    continue;

                }

                //If it is allowed to make a new point, it adds it to the open list.
                if( make )
                {

                    int gScore = manhattan( start.getPos(), Coord( curX, curY ) );
                    int hScore = manhattan( end.getPos(), Coord( curX, curY ) );
                    int tileCost = grid[curX][curY];
                    int fScore = gScore+hScore+tileCost;

                    open.push_back( new Point( curX, curY, fScore, cur ) );

                }

            }

        }

        //It then pushes back the current into the closed set as well as erasing it from the open set.
        closed.push_back( cur );
        open.erase( open.begin() );

        //Heapsort works, guranteed. Not sure if it's a stable sort, though. From what I can tell that shouldn't matter, though.
        open = heapsort( open );

    }

    std::vector<Coord> path;

    if( error )
    {

        return path;

    }

    //Reconstruct a path by tracing through the parents.
    while( cur->getParent() != nullptr )
    {

        path.push_back( cur->getPos() );
        cur = cur->getParent();

    }

    path.push_back( cur->getPos() );

    return path;

}

反正！感谢您的任何帮助！如果您想给我一些有用的提示或任何其他很棒的帮助！非常感谢！：^）