GenericIDAStar.h

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/*
 *  GenericIDAStar.h
 *  hog
 *
 *  Created by Nathan Sturtevant on 1/3/07.
 *  Copyright 2007 __MyCompanyName__. All rights reserved.
 *
 */
 
 
#ifndef GENERICIDASTAR_H
#define GENERICIDASTAR_H
 
#include "OldSearchEnvironment.h" // for the SearchEnvironment class
 
#include <unordered_map>
 
typedef std::unordered_map<uint32_t, double> NodeHashTable;
 
class GenericIDAStar {
public:
        GenericIDAStar() {}
        virtual ~GenericIDAStar() {}
        void GetPath(OldSearchCode::SearchEnvironment *env, uint32_t from, uint32_t to,
                                                         std::vector<uint32_t> &thePath);
 
        uint64_t GetNodesExpanded() { return nodesExpanded; }
        uint64_t GetNodesTouched() { return nodesTouched; }
        void ResetNodeCount() { nodesExpanded = nodesTouched = 0; }
        void SetUseBDPathMax(bool val) { usePathMax = val; }
private:
        unsigned long nodesExpanded, nodesTouched;
 
        double DoIteration(OldSearchCode::SearchEnvironment *env,
                                                                                 uint32_t parent, uint32_t currState, uint32_t goal,
                                                                                 std::vector<uint32_t> &thePath, double bound, double g,
                                                                                 double maxH);
        void UpdateNextBound(double currBound, double fCost);
        double nextBound;
        NodeHashTable nodeTable;
        bool usePathMax;
};      
 
#endif