给我theta*算法的c++代码

Theta*算法的C代码是：
#include <stdio.h>
#define MAX_SIZE 100

// A utility function to find the vertex with minimum distance value, from
// the set of vertices not yet included in shortest path tree
int minDistance(int dist[], bool sptSet[])
{
// Initialize min value
int min = INT_MAX, min_index;

for (int v = 0; v < MAX_SIZE; v++)
if (sptSet[v] == false && dist[v] <= min)
min = dist[v], min_index = v;

return min_index;
}

// A utility function to print the constructed distance array
int printSolution(int dist[], int n)
{
printf("Vertex Distance from Source\n");
for (int i = 0; i < MAX_SIZE; i++)
printf("%d \t\t %d\n", i, dist[i]);
}

// Function that implements Dijkstra's single source shortest path algorithm
// for a graph represented using adjacency matrix representation
void dijkstra(int graph[MAX_SIZE][MAX_SIZE], int src)
{
int dist[MAX_SIZE]; // The output array. dist[i] will hold the shortest
// distance from src to i

bool sptSet[MAX_SIZE]; // sptSet[i] will true if vertex i is included in shortest
// path tree or shortest distance from src to i is finalized

// Initialize all distances as INFINITE and stpSet[] as false
for (int i = 0; i < MAX_SIZE; i++)
dist[i] = INT_MAX, sptSet[i] = false;

// Distance of source vertex from itself is always 0
dist[src] = 0;

// Find shortest path for all vertices
for (int count = 0; count < MAX_SIZE-1; count++)
{
// Pick the minimum distance vertex from the set of vertices not
// yet processed. u is always equal to src in first iteration.
int u = minDistance(dist, sptSet);

// Mark the picked vertex as processed
sptSet[u] = true;

// Update dist value of the adjacent vertices of the picked vertex.
for (int v = 0; v < MAX_SIZE; v++)

// Update dist[v] only if is not in sptSet, there is an edge from
// u to v, and total weight of path from src to v through u is
// smaller than current value of dist[v]
if (!sptSet[v] && graph[u][v] && dist[u] != INT_MAX
&& dist[u]+graph[u][v] < dist[v])
dist[v] = dist[u] + graph[u][v];
}

// print the constructed distance array
printSolution(dist, MAX_SIZE);
}