astar.cpp

#include "Astar.h"

// Astar class methods declared in Astar.h definitions

// Constructor method. Takes a map address and alow the algorithm class
// to see it.
Astar::Astar(Map& algo_map){
    algo_map_ = &algo_map;
}

// G cost method. The "real" value function is calculated for a Node in (x,y) position from algo_map_
void Astar::gCostFunction(int x, int y){
    int x_diff;
    int y_diff;
    x_diff = iabs (x-(algo_map_->getStartNode()).getPos().x);
    y_diff = iabs (y-(algo_map_->getStartNode()).getPos().y);

    algo_map_->map_[x].at(y).setGValue(ilow(x_diff,y_diff)*DIAG_W + iabs((x_diff-y_diff))*10);
    return ;
}

// H cost method. The heuristic value function is set with this method.
void Astar::hCostFunction(int x, int y){
    int x_diff;
    int y_diff;
    x_diff = iabs (x-(algo_map_->getStartNode()).getPos().x);
    y_diff = iabs (y-(algo_map_->getStartNode()).getPos().y);

    algo_map_->map_[x].at(y).setHValue((x_diff+y_diff)*10);
    return ;
}

// F cost is simply the sum of the others (see Node.h)
void Astar::fCostFunction(int x, int y){
    algo_map_->map_[x].at(y).setFValue();
    return ;
}

// There will be always evaluated all costs at once, so I
// wrote this method to simplify things up
void Astar::setValues(int x, int y){
    gCostFunction(x,y);
    hCostFunction(x,y);
    fCostFunction(x,y);
    return ;
}