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Attempting to answer the questions for whoever that might find them useful :
* line 161,what does “ *float *potarr ” mean, What it is used for? What is the difference between “potarr array”and “cost array”?
Literally speaking, Cost array are the raw cost values for each cell from the 2D cost map and Potarr is the potential that the navfn propogation function assigns to each cell during traversal which can be later used to find the final path using gradient descent.
line 167*,what does “ int *curp , int *nextp ,int *overp ”mean,what are they used for?
The propogation function uses three priority buffers namely current buffer, next buffer and over buffers, these three pointer variables that you have mentioned point to elements inside the three buffers
n the navfn/include/navfn/navfn.cpp, I think like Astar algorithm (basically understand its principle), in the code ,there are two lists, OPEN and CLOSED,where are they ,how does the "updateCell function"line 472,update ?
Update cell function in navfn has the following steps in brief :