astar.h

一个非常有用的客户端开发程序

#ifndef ASTAR
#define ASTAR
#include "pp_point.h"
#include "logger/src/logger.h"
#include "priorityqueue.h"
#include <list>
#include <map>
#include <vector>

#define ENABLE_WAYPOINT_SMOOTHING 1
const double _threshold=0.3;
using namespace std;

enum direction {n,e,w,s,nw,ne,se,sw,err};

class AStar{
   public:
      AStar(int gridSize,double resolution);
      ~AStar();
      void setOccupancy(double** occ) {_occupancy=occ;}
      list<PP_Point> findPlan(PP_Point start, PP_Point goal);
      double heuristic(PP_Point node);
      PP_Point** getClosedList();
      list<PP_Point> getWayPoints(list<PP_Point> &path);
      void setBumpList(list<PP_Point> bl){_bumpList=bl;}
   private:
      static direction getDirection(PP_Point curr, PP_Point next);
   private:
      PP_Point** _closedList;
      PriorityQueue _priorityQueue;
      double** _occupancy;
      int _gridSize;
      double _resolution;
      PP_Point _start, _goal;
	list<PP_Point> _bumpList;
};
#endif //  ASTAR


/*********************************************************************
 * (C) Copyright 2006 Albert Ludwigs University Freiburg
 *     Institute of Computer Science
 *
 * All rights reserved. Use of this software is permitted for
 * non-commercial research purposes, and it may be copied only
 * for that use. All copies must include this copyright message.
 * This software is made available AS IS, and neither the authors
 * nor the Albert Ludwigs University Freiburg make any warranty
 * about the software or its performance.
 *********************************************************************/