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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 8
#define PATHLENGTH 10
#define DIAGLENGTH 14
// TODO add constructors and functions to calculate heuristics etc..
class AStar {
public:
AStar(int *graph_in, const unsigned int& width, const unsigned int height);
AStar(const AStar& other);
~AStar();
AStar& operator=(const AStar& other);
bool start_algorithm(int *curr_graph, const unsigned int& width, const unsigned int& height);
bool start_algorithm();
void recreate_path(Node n);
private:
PriorityQueue<Node> open_set;
Node *closed_set;
int *graph;
unsigned int graph_width;
unsigned int graph_height;
unsigned int graph_size;
int path_length;
Node start_node, end_node;
bool find_start_end();
Node get_neighbour(Node& n_in, const int& neighbour_num);
void reset_closed_set();
void calc_heuristic(Node& n);
};
#endif // ASTAR_HPP
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