Init gym

cpp/a_star/a_star.h

@@ -0,0 +1,26 @@
+#pragma once
+
+/**
+ * FILENAME:     a_star.h
+ * DESCRIPTION:  custom A* pathfinding implementation, optimized for the soccer environment
+ * AUTHOR:       Miguel Abreu (m.abreu@fe.up.pt)
+ * DATE:         2022
+ */
+
+struct Node{
+
+    //------------- BST parameters
+    Node* left;
+    Node* right;
+    Node* up;
+
+    //------------- A* parameters 
+    Node* parent;
+    float g;
+    float f;
+
+};
+
+extern void astar(float params[], int params_size);
+extern float final_path[2050];
+extern int final_path_size;