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#include "AAStar.h"
void AAStar::init() {
while(!open.empty()) open.pop();
while(!succs.empty()) succs.pop();
visited = 0;
}
bool AAStar::findPath(std::list<ANode*>* path) {
float g;
ANode *x, *y;
init();
start->open = true;
start->g = 0.0f;
start->h = heuristic(start,goal);
open.push(start);
while (!open.empty()) {
x = open.top(); open.pop();
if (x == goal) {
if (path)
tracePath(x, *path);
return true;
}
x->open = false;
x->closed = true;
successors(x, succs);
while (!succs.empty()) {
y = succs.front(); succs.pop();
if (y->closed)
continue;
g = x->g + y->w*heuristic(x,y);
if (y->open && g < y->g)
y->open = false;
if (!y->open) {
y->g = g;
y->parent = x;
y->h = heuristic(y, goal);
y->open = true;
open.push(y);
}
visited++;
}
}
return false;
}
void AAStar::tracePath(ANode* x, std::list<ANode*>& path) {
while (x != start) {
path.push_front(x);
x = x->parent;
}
path.push_front(start);
}
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