math/astar.h

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#ifndef _ASTAR_H_
#define _ASTAR_H_

#include "graph.h"
#include <set>
#include <vector>

namespace Graph
{
    
//=============================================================================
// class Astar
//
// This is the class for doing astar graph searches
//
//=============================================================================
class Astar
{
public:
    std::vector< int > GetPath() const;
    void Search( const GraphBase& g, const int start, const int end );
protected:
    void   AddToOpenList( const int nodeNumber );
    double GetCost( const int nodeNumber );
    int    GetNodeFromOpenList() const;
    void   MarkNodeCost( const int nodeNumber, const double cost );
    bool   OpenListIsEmpty() const;
    void   ProcessAllNeighborsOfNode( const GraphBase& g, const int node );
    void   RemoveNodeFromOpenList( const int nodeNum );
    int    SmallestNeighbor( const GraphBase& g, const int node );
private:
    std::set< int >       m_OpenList;
    std::vector< double > m_Costs;
    std::vector< int >    m_Path;
};
    
    
    //-----------------------------------------------------------------------------
} //namespace Graph
#endif

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