我的A * Search算法在执行时会进入无限循环，我对为什么感到困惑有人可以帮我吗？

如何解决我的A * Search算法在执行时会进入无限循环，我对为什么感到困惑有人可以帮我吗？

要求我提供伪代码时，用C ++编写A * Search算法。我已经对该算法进行了编程，并且可以成功编译，但是我没有收到需要知道我的算法正常工作的输出。现在，我已经努力了几天，试图确定编程中的问题。

有人可以请我回顾一下我当前的代码，并给我一些提示和指示，以指出我应该在哪里修复我的代码吗？或为我指明正确的方向？

如果您选择帮助我，则感谢您一百万！我将不胜感激。

Assignment Instructions,If Needed

一些注意事项：我用 bool 打开和关闭矢量替换了 int 打开和关闭矢量。如果您将说明与我当前的代码进行比较，就可以了。 另外，“ cout ”语句只是我试图测试整个while循环和函数是否真正在被执行。再次感谢您选择帮助我。

double ASTARSearch()
{

    const int nodesAmt = 8;
    char labels[nodesAmt] = {'S','A','B','C','D','E','F','G'};
    
    double distanceMatrix[nodesAmt][nodesAmt] =
    {
        { INT_MAX,3,INT_MAX,4,INT_MAX         },{ 3,5,INT_MAX               },{ INT_MAX,1.4             },{ 4,2,1.4,INT_MAX }
    };
    
    double heuristicCosts[nodesAmt] = {10,10,6,9,7,0};
    
    vector<bool> open(nodesAmt);
    vector<bool> closed(nodesAmt);
    vector<int> gScore(nodesAmt,INT_MAX);
    vector<int> fScore(nodesAmt,INT_MAX);
    
    int cameFrom[nodesAmt];
    
    const int START = 0;
    
    open.at(START) = true;
    
    gScore[START] = 0;
    
    fScore[START] = heuristicCosts[START];
    
    cout << " TEST 1 " << endl; // delete
    
    bool empty = false;
    
    while (empty == false)
    {
        int minDist = INFINITY,current = 0;
        
        for (int i = 0; i < nodesAmt; i++)
        {
            if (open[i] == true)
            {
                if (fScore.at(i) < minDist)
                {
                    minDist = fScore.at(i);
                    current = i;
                }
            }
        }
        
        cout << " TEST 2 " << endl; // delete

        
        if (current == (nodesAmt - 1)) // all part 3 stuff
        {
            int to = nodesAmt - 1;
            int from = cameFrom[to];
            
            while (true)
            {
                cout << labels[from] << " -> " << labels[to] << endl;
                
                if (from == START)
                {
                    break;
                }
                
                to = from;
                from = cameFrom[to];
            }
            
            return 0;
        }
        
        cout << " TEST 3 " << endl; // delete

        
        open[current] = false;
        closed[current] = true;
        
        double neighbors[nodesAmt];
        
        for (int i = 0; i < nodesAmt; i++)
        {
            neighbors[i] = distanceMatrix[current][i];
        }
        
        for (int i = 0; i < nodesAmt; i++)
        {
            if (neighbors[i] == INT_MAX)
            {
                continue;
            }
            
            int g = gScore[current] + neighbors[i];
            int f = g + heuristicCosts[i];
            
            if (open[i] == false)
            {
                open[i] = true;
            }
            else if (open[i] == true && f >= fScore[i])
            {
                continue;
            }
            else if (open[i] == true && f < fScore[i])
            {
                cameFrom[i] = current;
                gScore[i] = g;
                fScore[i] = gScore[i] + heuristicCosts[i];
            }
            else if (closed[i] == true && f < fScore[i])
            {
                closed[i] = false;
                open[i] = true;
            }
            else
            {
                
            }
        }
        
        cout << " TEST 4 " << endl; // delete
        
        for (int i = 0; i < nodesAmt; i++)
        {
            int tally = 0;
            if (open[i] == false)
            {
                tally++;
            }
        
            if (tally == 8)
            {
                empty = true;
            }
            cout << " TEST 6 " << endl; // delete

        }

    }
    
    cout << " TEST 5 " << endl; // delete

    return 0;
}