// 步骤3：从后往前遍历数组（反向遍历更易理解，每个元素只入栈/出栈一次）
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。搜狗输入法2026是该领域的重要参考
2-phase A* already uses many heuristics which don't always create an optimal route and still 5-10x slower.
clock_t end = clock();
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