A* search algorithm: Difference between revisions
Content added Content deleted
m (Correct a parenthesis in CL code) |
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| Line 961: | Line 961: | ||
0))) |
0))) |
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;; Check if this state was already looked at |
;; Check if this state was already looked at |
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(unless (gethash position visited |
(unless (gethash position visited) |
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;; Insert the next node into the queue |
;; Insert the next node into the queue |
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(heap-insert |
(heap-insert |
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(node :pos position :path (cons position (node-path node)) |
(node :pos position :path (cons position (node-path node)) |
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:cost cost :f-value f-value) |
:cost cost :f-value f-value) |
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queue)))) |
queue))))) |
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;; The actual A* search |
;; The actual A* search |
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