Init gym

cpp/a_star/lib_main.cpp

@@ -0,0 +1,43 @@
+#include "a_star.h"
+#include <pybind11/pybind11.h>
+#include <pybind11/numpy.h>
+
+namespace py = pybind11;
+using namespace std;
+
+
+py::array_t<float> compute( py::array_t<float> parameters ){
+
+    // ================================================= 1. Parse data
+    
+    py::buffer_info parameters_buf = parameters.request();
+    int params_len = parameters_buf.shape[0];
+
+    // ================================================= 2. Compute path
+
+    astar( (float*)parameters_buf.ptr, params_len );
+    
+    // ================================================= 3. Prepare data to return
+    
+    py::array_t<float> retval = py::array_t<float>(final_path_size); //allocate
+    py::buffer_info buff = retval.request();
+    float *ptr = (float *) buff.ptr;
+
+    for(int i=0; i<final_path_size; i++){
+        ptr[i] = final_path[i];
+    }
+
+
+    return retval;
+}
+
+
+
+using namespace pybind11::literals; // to add informative argument names as -> "argname"_a
+
+PYBIND11_MODULE(a_star, m) {  // the python module name, m is the interface to create bindings
+    m.doc() = "Custom A-star implementation"; // optional module docstring
+
+    // optional arguments names
+    m.def("compute", &compute, "Compute the best path", "parameters"_a); 
+}