我正在查看 DLite 的优化版本：
procedure CalculateKey(s)
{01”} return [min(g(s), rhs(s)) + h(s_start, s) + km;min(g(s), rhs(s))];
procedure Initialize()
{02”} U = ∅;
{03”} km = 0;
{04”} for all s ∈ S rhs(s) = g(s) = ∞;
{05”} rhs(s_goal) = 0;
{06”} U.Insert(s_goal, [h(s_start, s_goal); 0]);
procedure UpdateVertex(u)
{07”} if (g(u) != rhs(u) AND u ∈ U) U.Update(u,CalculateKey(u));
{08”} else if (g(u) != rhs(u) AND u /∈ U) U.Insert(u,CalculateKey(u));
{09”} else if (g(u) = rhs(u) AND u ∈ U) U.Remove(u);
procedure ComputeShortestPath()
{10”} while (U.TopKey() < CalculateKey(s_start) OR rhs(s_start) > g(s_start))
{11”} u = U.Top();
{12”} k_old = U.TopKey();
{13”} k_new = CalculateKey(u));
{14”} if(k_old < k_new)
{15”} U.Update(u, k_new);
{16”} else if (g(u) > rhs(u))
{17”} g(u) = rhs(u);
{18”} U.Remove(u);
{19”} for all s ∈ Pred(u)
{20”} if (s != s_goal) rhs(s) = min(rhs(s), c(s, u) + g(u));
{21”} UpdateVertex(s);
{22”} else
{23”} g_old = g(u);
{24”} g(u) = ∞;
{25”} for all s ∈ Pred(u) ∪ {u}
{26”} if (rhs(s) = c(s, u) + g_old)
{27”} if (s != s_goal) rhs(s) = min s'∈Succ(s)(c(s, s') + g(s'));
{28”} UpdateVertex(s);
procedure Main()
{29”} s_last = s_start;
{30”} Initialize();
{31”} ComputeShortestPath();
{32”} while (s_start != s_goal)
{33”} /* if (g(s_start) = ∞) then there is no known path */
{34”} s_start = argmin s'∈Succ(s_start)(c(s_start, s') + g(s'));
{35”} Move to s_start;
{36”} Scan graph for changed edge costs;
{37”} if any edge costs changed
{38”} km = km + h(s_last, s_start);
{39”} s_last = s_start;
{40”} for all directed edges (u, v) with changed edge costs
{41”} c_old = c(u, v);
{42”} Update the edge cost c(u, v);
{43”} if (c_old > c(u, v))
{44”} if (u != s_goal) rhs(u) = min(rhs(u), c(u, v) + g(v));
{45”} else if (rhs(u) = c_old + g(v))
{46”} if (u != s_goal) rhs(u) = min s'∈Succ(u)(c(u, s') + g(s'));
{47”} UpdateVertex(u);
{48”} ComputeShortestPath()
我无法猜测为什么在第 44 行和第 46 行评估相同的条件（如果 u ~= s_goal）。在输入第 43 行和第 45 行中出现的 if/if else 之前，是否无法对此进行评估？可能是：
if (u != s_goal)
if (c_old=c(u,v))
rhs(u)=min(rhs(u),c(u,v)+g(v));
elseif (rhs(u)=c_old + g(v))
rhs(u)=min_s'(c(u,s')+g(s'))
会错吗？
问候