AStar2.cpp

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/*
 *  $Id: aStar2.cpp
 *  hog2
 *
 *  Created by Nathan Sturtevant on 9/29/04.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 */
 
#include "AStar2.h"
 
using namespace GraphAbstractionConstants;
 
path *aStar2::GetPath(GraphAbstraction *aMap, node *from, node *to, reservationProvider *)
{
        if ((from == 0) || (to == 0) || (from == to))
                return 0;
  path *lastPath = 0;
  map = aMap;
        
  std::vector<unsigned int> eligibleNodeParents;
        
  lastPath = getAbstractPath(map->GetAbstractGraph(from->GetLabelL(kAbstractionLevel)),
                                                                                                                 from->GetNum(), to->GetLabelL(kParent),
                                                                                                                 eligibleNodeParents,
                                                                                                                 kTemporaryLabel,
                                                                                                                 to->GetNum());
  return lastPath;
}