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