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#ifndef ASTAR_HPP
#define ASTAR_HPP
#include "priority_queue.hpp"
#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
#define NEIGHBOUR_NUM 4
// 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);
bool start_algorithm(int *curr_graph, const unsigned int& width, const unsigned int& height);
void recreate_path(Node *n);
private:
PriorityQueue<Node *> open_set;
std::vector<Node *> closed_set;
int *graph;
int graph_width;
int graph_height;
int path_length;
Node *start_node, *end_node;
bool start_algorithm();
Node *get_neighbour(Node *n_in, const int& neighbour_num);
void calc_heuristic(Node *n);
void calc_f(Node *n);
bool check_item_vec(Node *n);
int get_index_vec(Node *n);
void remove_from_vec(Node *n);
bool check_xy_vec(Node *n_out);
bool check_xy_queue(Node *n_out);
};
#endif // ASTAR_HPP
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