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
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