1 // Copyright (C) 2006-2008 CEA/DEN, EDF R&D
3 // This library is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU Lesser General Public
5 // License as published by the Free Software Foundation; either
6 // version 2.1 of the License.
8 // This library is distributed in the hope that it will be useful,
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // Lesser General Public License for more details.
13 // You should have received a copy of the GNU Lesser General Public
14 // License along with this library; if not, write to the Free Software
15 // Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
17 // See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com
19 #ifndef _LINKASTAR_HXX_
20 #define _LINKASTAR_HXX_
22 #include "LinkMatrix.hxx"
36 LCostNode(std::pair<int,int> parent);
37 virtual ~LCostNode() {};
38 inline void setParent(std::pair<int,int> parent) { _parent = parent; };
39 std::pair<int,int> getParent() const {return _parent; };
40 inline void setGCost(double c) { _gCost = c; };
41 inline void setHCost(double c) { _hCost = c; };
42 inline void setFCost(double c) { _fCost = c; };
43 inline double getGCost() const { return _gCost; };
44 inline double getHCost() const { return _hCost; };
45 inline double getFCost() const { return _fCost; };
47 double _gCost, _hCost, _fCost;
48 std::pair<int,int> _parent;
51 typedef std::map<std::pair<int,int>, LCostNode> LNodeMap;
56 LinkAStar(const LinkMatrix& linkMatrix);
59 bool computePath(LNode from, LNode to);
61 bool isAlreadyInList(std::pair<int,int> n, const LNodeMap& aList);
62 void addNeighbours(std::pair<int,int> n);
63 std::pair<int,int> bestNode(const LNodeMap& aList);
64 void moveToClosedList(std::pair<int,int> n);
65 double distance(int i1, int j1, int i2, int j2);
67 const LinkMatrix &_linkMatrix;