CorridorAStar.h

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/*
 *  $Id: corridorAStar.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 6/22/05.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 */
 
#ifndef CORRIDORASTAR_H
#define CORRIDORASTAR_H
 
#include "SearchAlgorithm.h"
#include "Graph.h"
#include "Heap.h"
 
class corridorAStar : public SearchAlgorithm {
public:
        corridorAStar();
        virtual ~corridorAStar() {}
        path *GetPath(GraphAbstraction *aMap, node *from, node *to, reservationProvider *rp = 0);
        path *getBestPath(GraphAbstraction *aMap, node *from, node *to, node *hGoal, reservationProvider *rp = 0);
        path *getBestPath(GraphAbstraction *aMap, node *afrom, node *ato, node *from, node *to, reservationProvider *rp = 0);
        void setCorridor(const std::vector<node *> *);
        virtual const char *GetName() { return "corridorAStar"; }
private:
                void relaxEdge(Heap *nodeHeap, Graph *g, GraphAbstraction *aMap,
                                                                         edge *e, node *from, node *to, node *dest);
        void relaxFirstEdge(Heap *nodeHeap, Graph *g, GraphAbstraction *aMap,
                                                                                        edge *e, node *from, node *afrom, node *ato, node *dest);
 
        void relaxFinalEdge(Heap *nodeHeap, Graph *g, GraphAbstraction *aMap,
                                                                                        edge *e, node *from, node *to, node *realDest);
        path *extractBestPath(Graph *g, unsigned int current);
        const std::vector<node *> *corridor;
        std::vector<node *> emptyCorridor;
};
 
#endif