MapSearchNode.h

00001 /***************************************************************************
00002 
00003  ***************************************************************************/
00004 #ifndef MAP_SEARCH_NODE_H
00005 #define MAP_SEARCH_NODE_H
00006     
00007 #include "stlastar.h"
00008 #include "AStarUse.h"
00009 #include "observation_structs.h"
00010 
00011 class MapSearchNode {
00012   public:
00013     short x;
00014     short y;
00015     MapSearchNode() { x = y = 0; }
00016     MapSearchNode( unsigned int px, unsigned int py ) { x=px; y=py; }
00017 
00018     float GoalDistanceEstimate( MapSearchNode &nodeGoal );
00019     bool IsGoal( MapSearchNode &nodeGoal );
00020     bool GetSuccessors( AStarSearch<MapSearchNode> *astarsearch, MapSearchNode *parent_node );
00021     float GetCost( MapSearchNode &successor );
00022     bool IsSameState( MapSearchNode &rhs );
00023 
00024     void PrintNodeInfo();
00025     ai_waypoint ReturnNodeInfo();
00026 
00027 };
00028 
00029 #endif
00030 

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