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