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