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<p class='location'><a href='../index.html'>petgraph</a>::<wbr><a href='index.html'>algo</a></p><script>window.sidebarCurrent = {name: 'astar', ty: 'fn', relpath: ''};</script><script defer src="sidebar-items.js"></script>
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<h1 class='fqn'><span class='in-band'>Function <a href='../index.html'>petgraph</a>::<wbr><a href='index.html'>algo</a>::<wbr><a class="fn" href=''>astar</a></span><span class='out-of-band'><span id='render-detail'>
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[<span class='inner'>−</span>]
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</span><a class='srclink' href='../../src/petgraph/astar.rs.html#67-133' title='goto source code'>[src]</a></span></h1>
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<pre class='rust fn'>pub fn astar<G, F, H, K, IsGoal>(<br> graph: G, <br> start: G::<a class="type" href="../../petgraph/visit/trait.GraphBase.html#associatedtype.NodeId" title="type petgraph::visit::GraphBase::NodeId">NodeId</a>, <br> is_goal: IsGoal, <br> edge_cost: F, <br> estimate_cost: H<br>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><<a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.tuple.html">(</a>K, <a class="struct" href="https://doc.rust-lang.org/nightly/alloc/vec/struct.Vec.html" title="struct alloc::vec::Vec">Vec</a><G::<a class="type" href="../../petgraph/visit/trait.GraphBase.html#associatedtype.NodeId" title="type petgraph::visit::GraphBase::NodeId">NodeId</a>><a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.tuple.html">)</a>> <span class="where fmt-newline">where<br> G: <a class="trait" href="../../petgraph/visit/trait.IntoEdges.html" title="trait petgraph::visit::IntoEdges">IntoEdges</a> + <a class="trait" href="../../petgraph/visit/trait.Visitable.html" title="trait petgraph::visit::Visitable">Visitable</a>,<br> IsGoal: <a class="trait" href="https://doc.rust-lang.org/nightly/core/ops/function/trait.FnMut.html" title="trait core::ops::function::FnMut">FnMut</a>(G::<a class="type" href="../../petgraph/visit/trait.GraphBase.html#associatedtype.NodeId" title="type petgraph::visit::GraphBase::NodeId">NodeId</a>) -> <a class="primitive" href="https://doc.rust-lang.org/nightly/std/primitive.bool.html">bool</a>,<br> G::<a class="type" href="../../petgraph/visit/trait.GraphBase.html#associatedtype.NodeId" title="type petgraph::visit::GraphBase::NodeId">NodeId</a>: <a class="trait" href="https://doc.rust-lang.org/nightly/core/cmp/trait.Eq.html" title="trait core::cmp::Eq">Eq</a> + <a class="trait" href="https://doc.rust-lang.org/nightly/core/hash/trait.Hash.html" title="trait core::hash::Hash">Hash</a>,<br> F: <a class="trait" href="https://doc.rust-lang.org/nightly/core/ops/function/trait.FnMut.html" title="trait core::ops::function::FnMut">FnMut</a>(G::<a class="type" href="../../petgraph/visit/trait.IntoEdgeReferences.html#associatedtype.EdgeRef" title="type petgraph::visit::IntoEdgeReferences::EdgeRef">EdgeRef</a>) -> K,<br> H: <a class="trait" href="https://doc.rust-lang.org/nightly/core/ops/function/trait.FnMut.html" title="trait core::ops::function::FnMut">FnMut</a>(G::<a class="type" href="../../petgraph/visit/trait.GraphBase.html#associatedtype.NodeId" title="type petgraph::visit::GraphBase::NodeId">NodeId</a>) -> K,<br> K: <a class="trait" href="../../petgraph/algo/trait.Measure.html" title="trait petgraph::algo::Measure">Measure</a> + <a class="trait" href="https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html" title="trait core::marker::Copy">Copy</a>, </span></pre><div class='docblock'><p>[Generic] A* shortest path algorithm.</p>
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<p>Computes the shortest path from <code>start</code> to <code>finish</code>, including the total path cost.</p>
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<p><code>finish</code> is implicitly given via the <code>is_goal</code> callback, which should return <code>true</code> if the
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given node is the finish node.</p>
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<p>The function <code>edge_cost</code> should return the cost for a particular edge. Edge costs must be
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non-negative.</p>
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<p>The function <code>estimate_cost</code> should return the estimated cost to the finish for a particular
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node. For the algorithm to find the actual shortest path, it should be admissible, meaning that
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it should never overestimate the actual cost to get to the nearest goal node. Estimate costs
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must also be non-negative.</p>
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<p>The graph should be <code>Visitable</code> and implement <code>IntoEdges</code>.</p>
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<pre class="rust rust-example-rendered">
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<span class="kw">use</span> <span class="ident">petgraph</span>::<span class="ident">Graph</span>;
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<span class="kw">use</span> <span class="ident">petgraph</span>::<span class="ident">algo</span>::<span class="ident">astar</span>;
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<span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">g</span> <span class="op">=</span> <span class="ident">Graph</span>::<span class="ident">new</span>();
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<span class="kw">let</span> <span class="ident">a</span> <span class="op">=</span> <span class="ident">g</span>.<span class="ident">add_node</span>((<span class="number">0.</span>, <span class="number">0.</span>));
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<span class="kw">let</span> <span class="ident">b</span> <span class="op">=</span> <span class="ident">g</span>.<span class="ident">add_node</span>((<span class="number">2.</span>, <span class="number">0.</span>));
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<span class="kw">let</span> <span class="ident">c</span> <span class="op">=</span> <span class="ident">g</span>.<span class="ident">add_node</span>((<span class="number">1.</span>, <span class="number">1.</span>));
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<span class="kw">let</span> <span class="ident">d</span> <span class="op">=</span> <span class="ident">g</span>.<span class="ident">add_node</span>((<span class="number">0.</span>, <span class="number">2.</span>));
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<span class="kw">let</span> <span class="ident">e</span> <span class="op">=</span> <span class="ident">g</span>.<span class="ident">add_node</span>((<span class="number">3.</span>, <span class="number">3.</span>));
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<span class="kw">let</span> <span class="ident">f</span> <span class="op">=</span> <span class="ident">g</span>.<span class="ident">add_node</span>((<span class="number">4.</span>, <span class="number">2.</span>));
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<span class="ident">g</span>.<span class="ident">extend_with_edges</span>(<span class="kw-2">&</span>[
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(<span class="ident">a</span>, <span class="ident">b</span>, <span class="number">2</span>),
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(<span class="ident">a</span>, <span class="ident">d</span>, <span class="number">4</span>),
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(<span class="ident">b</span>, <span class="ident">c</span>, <span class="number">1</span>),
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(<span class="ident">b</span>, <span class="ident">f</span>, <span class="number">7</span>),
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(<span class="ident">c</span>, <span class="ident">e</span>, <span class="number">5</span>),
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(<span class="ident">e</span>, <span class="ident">f</span>, <span class="number">1</span>),
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(<span class="ident">d</span>, <span class="ident">e</span>, <span class="number">1</span>),
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]);
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<span class="kw">let</span> <span class="ident">path</span> <span class="op">=</span> <span class="ident">astar</span>(<span class="kw-2">&</span><span class="ident">g</span>, <span class="ident">a</span>, <span class="op">|</span><span class="ident">finish</span><span class="op">|</span> <span class="ident">finish</span> <span class="op">==</span> <span class="ident">f</span>, <span class="op">|</span><span class="ident">e</span><span class="op">|</span> <span class="kw-2">*</span><span class="ident">e</span>.<span class="ident">weight</span>(), <span class="op">|</span>_<span class="op">|</span> <span class="number">0</span>);
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<span class="macro">assert_eq</span><span class="macro">!</span>(<span class="ident">path</span>, <span class="prelude-val">Some</span>((<span class="number">6</span>, <span class="macro">vec</span><span class="macro">!</span>[<span class="ident">a</span>, <span class="ident">d</span>, <span class="ident">e</span>, <span class="ident">f</span>])));</pre>
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<p>Returns the total cost + the path of subsequent <code>NodeId</code> from start to finish, if one was
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found.</p>
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