A*算法C#实现，三次B样条优化

用于路径规划算法，A*源代码，三次B样条源代码 用于路径规划算法，A*源代码，三次B样条源代码 用于路径规划算法，A*源代码，三次B样条源代码

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using BinHeap;
using System.IO.Ports;
using System.IO;
using System.Threading;
namespace Astar
{
 
    public partial class Form1 : Form
    {
        public int setStartPointFlag = 0;
        public int setEndPointFlag = 0;
        public Point startPoint;
        public Point goalPoint;
        public Graphics g ;
        public Graphics g2;
        public Pen p;
        public Stack keyPoints;
        Navigate nav;
        PgmFile pgmFile;
        FileStream keyPoints_fs;
        FileStream calcResult_fs;
        FileStream laserData_fs;

        StreamWriter keyPoints_sw;
        StreamWriter calcResult_sw;
        StreamWriter laserData_sw;

        Rplidar rplidar;
        
        int obsWidth = 5;
        int obsHeight = 5;
       // int obsNum = 50;

        public Form1（）
        {
            InitializeComponent（）;           
        }
        private void Form1_Load（object sender EventArgs e）
        {

            string logFIlePath;
            //创建日志文件
            logFIlePath = Environment.CurrentDirectory.ToString（） + “\\KeyPoints.log“;
            keyPoints_fs = new FileStream（logFIlePath System.IO.FileMode.Append）;
            keyPoints_sw = new StreamWriter（keyPoints_fs System.Text.Encoding.Default）;
            keyPoints_sw.WriteLine（DateTime.Now.ToString（））;

            logFIlePath = Environment.CurrentDirectory.ToString（） + “\\CalcResult.log“;
            calcResult_fs = new FileStream（logFIlePath System.IO.FileMode.Append）;
            calcResult_sw = new StreamWriter（calcResult_fs System.Text.Encoding.Default）;
            calcResult_sw.WriteLine（DateTime.Now.ToString（））;

            logFIlePath = Environment.CurrentDirectory.ToString（） + “\\LaserData.log“;
            laserData_fs = new FileStream（logFIlePath System.IO.FileMode.Create）;
            laserData_sw = new StreamWriter（laserData_fs System.Text.Encoding.Default）;
            laserData_sw.WriteLine（DateTime.Now.ToString（））;

            //读取pgm格式地图
            string path = “C:\\Users\\10025\\Desktop\\激光雷达\\Astar\\Astar\\mymap.pgm“;
            pgmFile = new PgmFile（path）;
            pgmFile.Read_FileData（）;


            //重绘窗口
            //float scaleX = （float）（pgmFile.map.width-300） / this.pictureBox1.Width;
            //float scaleY = （float）（pgmFile.map.height-350） / this.pictureBox1.Height;
            int disX = this.Width - this.pictureBox1.Width;
            int disY = this.Height - this.pictureBox1.Height;
            this.pictureBox1.Width = pgmFile.map.width;
            this.pictureBox1.Height = pgmFile.map.height;
            this.pictureBox2.Width = this.pictureBox1.Width;
            this.pictureBox2.Height = this.pictureBox1.Height;
    

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2017-08-23 11:18  Astar\
     目录           0  2017-09-11 10:26  Astar\.git\
     文件           6  2017-08-23 11:19  Astar\.git\COMMIT_EDITMSG
     文件         303  2017-08-23 11:19  Astar\.git\config
     文件          98  2018-01-29 14:00  Astar\.git\FETCH_HEAD
     文件          23  2017-08-23 11:18  Astar\.git\HEAD
     文件        9526  2017-08-26 16:04  Astar\.git\index
     目录           0  2017-08-23 11:19  Astar\.git\logs\
     文件         166  2017-08-23 11:19  Astar\.git\logs\HEAD
     目录           0  2017-08-23 11:19  Astar\.git\logs\refs\
     目录           0  2017-08-23 11:19  Astar\.git\logs\refs\heads\
     文件         166  2017-08-23 11:19  Astar\.git\logs\refs\heads\master
     目录           0  2017-08-23 11:19  Astar\.git\logs\refs\remotes\
     目录           0  2017-08-23 11:19  Astar\.git\logs\refs\remotes\origin\
     文件         157  2017-08-23 11:19  Astar\.git\logs\refs\remotes\origin\master
     目录           0  2017-08-23 15:24  Astar\.git\objects\
     目录           0  2017-08-23 11:18  Astar\.git\objects\01\
     文件        2448  2017-08-23 11:18  Astar\.git\objects\01\5b266faf9a81a97321e4f1b4e2962f296c12e5
     目录           0  2017-08-23 11:18  Astar\.git\objects\03\
     文件       19518  2017-08-23 11:18  Astar\.git\objects\03\5f91f29ee2e86466c2dc539a7f79a2531656ce
     目录           0  2017-08-23 11:18  Astar\.git\objects\06\
     文件         278  2017-08-23 11:18  Astar\.git\objects\06\1c9ca950d0e8bb952c52799fb401a6614ad640
     目录           0  2017-08-23 11:18  Astar\.git\objects\08\
     文件         392  2017-08-23 11:18  Astar\.git\objects\08\12373cde17f453f750e3cdcc47b4f361a503e1
     目录           0  2017-08-23 11:18  Astar\.git\objects\0f\
     文件         580  2017-08-23 11:18  Astar\.git\objects\0f\b50e773862af33d79ecc37ac61e3909f2fd13e
     文件         425  2017-08-23 11:18  Astar\.git\objects\0f\e8235a9793581f55072d66c772be2e7e3db85a
     目录           0  2017-08-23 11:18  Astar\.git\objects\11\
     文件        1330  2017-08-23 11:18  Astar\.git\objects\11\4ac1f26edbd3815e3b3f593d5cd53513c0f2f3
     文件        1684  2017-08-23 11:18  Astar\.git\objects\11\f5aa28227235c6dccd92e64f9fd5ec7a1014e9
     目录           0  2017-08-23 11:18  Astar\.git\objects\12\
............此处省略254个文件信息