starting astar algorithm

6 files changed, 69 insertions, 31 deletions

diff --git a/bin/main b/bin/main
index dab6147..d49be03 100755
--- a/bin/main
+++ b/bin/main
diff --git a/include/astar.hpp b/include/astar.hpp
index bcff452..a3d2178 100644
--- a/include/astar.hpp
+++ b/include/astar.hpp
@@ -5,6 +5,7 @@
 #include "node.hpp"
 
 #include <ostream>
+#include <vector>
 
 // defines the number of nodes one can go to
 // we don't need this as we will have the queues
@@ -13,10 +14,22 @@
 // TODO add constructors and functions to calculate heuristics etc..
 class AStar {
 public:
-	AStar();
+	AStar(int *curr_graph, const unsigned int& width, const unsigned int& height);
 private:
 	PriorityQueue<Node> open_set;
-	Node current;
+	std::vector<Node> closed_set;
+
+	int *graph;
+	int graph_width;
+	int graph_height;
+
+	Node current_node, start_node, end_node;
+
+	void set_start_end();
+
+	Node get_neighbour(const Node& n_in, const int& neighbour_num);
+
+	void calc_heuristic(Node& n);
 };
 
 #endif // ASTAR_HPP
diff --git a/include/node.hpp b/include/node.hpp
index 314fc7c..3b81b1c 100644
--- a/include/node.hpp
+++ b/include/node.hpp
@@ -3,13 +3,19 @@
 
 #include <ostream>
 
+class AStar;
+
 class Node {
+	friend AStar;
 public:
 	Node();
 
-	void set_f(int i) {
-		f_score = i;
-	}
+	void set_x(int x_in);
+	void set_y(int y_in);
+	void set_h_score(int h);
+	void set_g_score(int g);
+
+	void compute_f();
 
 	// overloading operators for ease of use.
 	friend bool operator<(const Node& n1, const Node& n2);
@@ -31,7 +37,7 @@ private:
 	int f_score;
 // path length to get to that node.
 	int g_score;
-// heulistic length to destination.
+// heuristic length to destination.
 	int h_score;
 
 // the x and y coordinates of the node in the grid
diff --git a/src/astar.cpp b/src/astar.cpp
index b533130..b556d76 100644
--- a/src/astar.cpp
+++ b/src/astar.cpp
@@ -1,4 +1,27 @@
 #include "astar.hpp"
 
-AStar::AStar() {
+AStar::AStar(int *curr_graph, const unsigned int& width, const unsigned int& height) : graph(curr_graph), graph_width(width), graph_height(height) {
+	set_start_end();
+	open_set.push(start_node);
+}
+
+void AStar::set_start_end() {
+	for(unsigned int i = 0; i < graph_width * graph_height; ++i)
+		if(graph[i] == 3) {
+			start_node.x = i % graph_width;
+			start_node.y = i / graph_width;
+			start_node.g_score = 0;
+		} else if(graph[i] == 2) {
+			end_node.x = i % graph_width;
+			end_node.y = i / graph_width;
+			end_node.h_score = 0;
+		}
+}
+
+Node AStar::get_neighbour(const Node& n_in, const int& neighbour_num) {
+	if(neighbour_num == 0) {
+	}
+}
+
+void AStar::calc_heuristic(Node& n) {
 }
diff --git a/src/main.cpp b/src/main.cpp
index 2e51f2f..494ff43 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -16,29 +16,5 @@
 using namespace std;
 
 int main(int argc, char *argv[]) {
-	PriorityQueue<Node> pq;
-
-	Node n, n2, n3, n4, n5, n6;
-	n.set_f(65);
-	n2.set_f(2);
-	n3.set_f(6);
-	n4.set_f(34);
-	n5.set_f(75);
-	n6.set_f(2);
-
-	pq.push(n);
-	pq.push(n2);
-	pq.push(n3);
-	pq.push(n4);
-	pq.push(n5);
-	pq.push(n6);
-
-	cout << "First node in queue: " << pq.pop() << endl;
-	cout << "Second node in queue: " << pq.pop() << endl;
-	cout << "Third node in queue: " << pq.pop() << endl;
-	cout << "Fourth node in queue: " << pq.pop() << endl;
-	cout << "Fifth node in queue: " << pq.pop() << endl;
-	cout << "Sixth node in queue: " << pq.pop() << endl;
-
 	return 0;
 }
diff --git a/src/node.cpp b/src/node.cpp
index c10aa1b..9273376 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -3,6 +3,26 @@
 Node::Node() : previous_node(NULL), f_score(-1), g_score(0), h_score(-1), x(0), y(0) {
 }
 
+void Node::set_x(int x_in) {
+	x = x_in;
+}
+
+void Node::set_y(int y_in) {
+	y = y_in;
+}
+
+void Node::set_h_score(int h) {
+	h_score = h;
+}
+
+void Node::set_g_score(int g) {
+	g_score = g;
+}
+
+void Node::compute_f() {
+	f_score = g_score + h_score;
+}
+
 bool operator<(const Node& n1, const Node& n2) {
 	if(n1.f_score == n2.f_score)
 		return n1.h_score < n2.h_score;