AStar3.h

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/*
 *  $Id: aStar3.h
 *  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.
 *
 */
 
#ifndef ASTAROld_H
#define ASTAROld_H
 
#include "SearchAlgorithm.h"
#include "Heap.h"
 
// this is a "classic" implementation of A*
// it is not particularly optimized, it is more of an example of how an
// algorithm can be coded in this framework
 
class aStarOld : public SearchAlgorithm {
        
public:
        aStarOld(double _w = 1.0, bool _doPathDraw = true);
        path *GetPath(GraphAbstraction *aMap, node *from, node *to, reservationProvider *rp = 0);
        virtual const char *GetName() { return aStarName; }
        void drawPath(bool _doPathDraw) { doPathDraw = _doPathDraw; }
        
private:
                void relaxEdge(Heap *nodeHeap, Graph *g, edge *e, int source, int nextNode, node *to);
        path *extractBestPath(Graph *g, unsigned int current);
        GraphAbstraction *map;
        double wh;
        char aStarName[128];
        bool doPathDraw;
};
 
#endif