search.py 文件源码

def add_open(self, node, parent=None):
        self.m_CurDepth = self.m_CurDepth + 1
        node.m_Status = STATUS_OPEN
        node.m_Parent = parent
        node.m_gScore = self.compute_g(node, parent)
        node.m_hScore = self.compute_h(node)
        node.m_fScore = node.m_gScore + node.m_hScore
        heapq.heappush(self.m_OpenList, (node.m_fScore,node))
        if self.m_CurDepth >= self.m_MaxDepth:
            goal_node = self.get_goal_node()
            if not goal_node in self.m_OpenList:
                return True