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#include "astar.hpp"
Node::Node() : previous_node(NULL), f_score(-1), g_score(0), h_score(-1) {
update_f_score();
}
Node::Node(Node *prev_node) : previous_node(prev_node), f_score(-1), g_score(0), h_score(-1) {
update_f_score();
}
Node::Node(Node *prev_node, int g) : previous_node(prev_node), f_score(-1), g_score(g), h_score(-1) {
update_f_score();
}
Node::~Node() {
}
bool operator<(const Node& n1, const Node& n2) {
if(n1.f_score == n2.f_score)
return n1.h_score < n2.h_score;
return n1.f_score < n2.f_score;
}
bool operator==(const Node& n1, const Node& n2) {
return n1.f_score == n2.f_score;
}
bool operator>(const Node& n1, const Node& n2) {
if(n1.f_score == n2.f_score)
return n1.h_score > n2.h_score;
return n1.f_score > n2.f_score;
}
bool operator<=(const Node& n1, const Node& n2) {
return n1.f_score <= n2.f_score;
}
bool operator>=(const Node& n1, const Node& n2) {
return n1.f_score >= n2.f_score;
}
bool operator!=(const Node& n1, const Node& n2) {
return !(n1 == n2);
}
std::ostream& operator<<(std::ostream& out, const Node& n) {
out << n.f_score;
return out;
}
void Node::update_f_score() {
f_score = g_score + h_score;
}
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