Cintiq has far higher accuracy compared to the Astropad and Cintiq also has 2048+ levels of pressure sensitivity.
Also, input lag with actual tablets/Cintiqs will be far less than the Astropad.
For casual sketching/scribbling, the Astropad may be OK but for professional level work, nothing comes close to Wacom-powered tablets (and, unfortunately, won't anytime soon due to Wacom's patents).