latex写A*算法的伪代码,其中需要经过起点，一个必经点，终点

以下是使用latex写A*算法的伪代码，其中需要经过起点，一个必经点，终点：

\begin{algorithmic}
\State $openSet \gets \{start\}$
\State $closedSet \gets \{\}$
\State $cameFrom \gets \{\}$
\State $gScore \gets \{start: 0\}$
\State $fScore \gets \{start: heuristic(start, goal)\}$

\While{$openSet$ is not empty}
\State $current \gets$ node in $openSet$ with lowest $fScore$
\If{$current = goal$}
\State \textbf{return} reconstructPath($cameFrom$, $current$)
\EndIf
\State remove $current$ from $openSet$
\State add $current$ to $closedSet$
\For{each neighbor $neighbor$ of $current$}
\If{$neighbor$ is in $closedSet$}
\State \textbf{continue}
\EndIf
\State $tentativeGScore \gets gScore[current] + dist(current, neighbor)$
\If{$neighbor$ is not in $openSet$}
\State add $neighbor$ to $openSet$
\ElsIf{$tentativeGScore \geq gScore[neighbor]$}
\State \textbf{continue}
\EndIf
\State $cameFrom[neighbor] \gets current$
\State $gScore[neighbor] \gets tentativeGScore$
\State $fScore[neighbor] \gets gScore[neighbor] + heuristic(neighbor, goal)$
\EndFor
\EndWhile
\State \textbf{return} failure
\end{algorithmic}

其中，$start$表示起点，$goal$表示终点，$heuristic(node1, node2)$表示从$node1$到$node2$的启发式估计函数，$dist(node1, node2)$表示从$node1$到$node2$的距离。$openSet$表示待处理的节点集合，$closedSet$表示已处理的节点集合，$cameFrom$表示每个节点的最佳前驱节点，$gScore$表示从起点到每个节点的最短距离，$fScore$表示从起点到每个节点的估价函数值。