• Remove references to mouse.x and mouse.y.
  
• Let the user parametrize the system with the map width, the map height, the distance function and the heuristic, instead of hardcoding them.
  
• Define a coordinate type (this can be as simple as typedef std::pair<int,int> coord;) or reuse your Path structure to make your argument definitions shorter.
  
• Provide a function find_path(iter, start, dest) which accepts an iterator as argument and outputs the nodes in the path.

template <typename D, typename H>class AStar{public:  typedef D distance_type;  typedef H heuristic_type;  // Define a new object working on a map represented by distance  // 'distance' (which returns infinity to mark impassable objects)  // and a heuristic 'heuristic'. You don't need width/height as  // these are implied by the return values of the distance  // function.  AStar(D distance, H heuristic);  // Find the shortest path between two points and append it  // to the provided iterator as a sequence of coordinates which  // includes the first and last points. Returns whether the   // function was successful in finding a point.  template<typename It>  bool find(It out, const point2d &from, const point2d &to);};

Quote: Original post by Decrius
But for the iterator part...I found using iterators quite useless...

• In an std::vector
  
• In an std::list
  
• In an std::deque
  
• The three above, but with the elements in reverse order.
  
• The three above, but appending the result at the end of an existing container instead of an initially empty one.
  
• Directly to standard output.

Quote: And for the argument passing: yes, but doesn't that take more time? It first has to fill the struct and then pass it to the function, instead of just passing it to the funtion...

void third(const point &a) { fourth(a); }void second(const point &a) { third(a); }void first(const point &a) { second(a); }