AStarUse.h

00001 /***************************************************************************
00002 
00003  ***************************************************************************/
00004 
00005 #ifndef ASTAR_USE_H
00006 #define ASTAR_USE_H
00007 
00008 #include <iostream>
00009 #include <vector>
00010 #include "stlastar.h"
00011 #include "MapSearchNode.h"
00012 #include "observation_structs.h"
00013 
00014 using namespace std;
00015 
00019 const int WORLD_GRID_X = 50;
00020 const int WORLD_GRID_Y = 50;
00021 
00022 //int worldMap[WORLD_GRID_X * WORLD_GRID_Y];
00023 
00024 vector<ai_waypoint> AStarUse(ai_waypoint& startNode, ai_waypoint& goalNode);
00025 int InitMap ( int size_x, int size_y );
00026 int SetMapWeight( int x, int y, int weight );
00027 int PrintWorldMap();
00028 int GetMap( int x, int y );
00029 
00030 
00031 #endif
00032 

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