worked on disjkstra and a*

tests/nav/a-star/TestAStar.cpp

@@ -0,0 +1,48 @@
+#ifdef WITH_TESTS
+
+#include "../../Tests.h"
+
+#include "../../../grid/Grid.h"
+#include "../../../nav/a-star/AStar.h"
+#include "../../grid/Plot.h"
+
+TEST(AStar, build) {
+
+	Grid<GP> grid(1);
+
+	int idx1 = grid.add(GP( 0, 0, 0));
+	int idx2 = grid.add(GP( 0, 1, 0));
+	int idx3 = grid.add(GP( 0,-1, 0));
+	int idx4 = grid.add(GP( 1, 0, 0));
+	int idx5 = grid.add(GP(-1, 0, 0));
+
+	grid.connectBiDir(idx1, idx2);
+	grid.connectBiDir(idx1, idx3);
+	grid.connectBiDir(idx1, idx4);
+	grid.connectBiDir(idx1, idx5);
+
+	class TMP {
+		Grid<GP>& grid;
+	public:
+		TMP(Grid<GP>& grid) : grid(grid) {;}
+//		int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
+//		const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
+		const std::vector<GP>& getAllNodes() const {return grid.getNodes();}
+		decltype(grid.neighbors(GP())) getNeighbors(const GP& node) const {return grid.neighbors(node);}
+		float getWeightBetween(const GP& n1, const GP& n2) const {return ((Point3)n1 - (Point3)n2).length();}
+		float getHeuristic(const GP& n1, const GP& n2) const {return std::abs(n1.x_cm - n2.x_cm) + std::abs(n1.y_cm - n2.y_cm);}
+	} tmp(grid);
+
+	AStar<GP> nav;
+	std::vector<const GP*> vec = nav.get(&grid[0], &grid[4], tmp);
+
+	for (const GP* g : vec) {
+		std::cout << g << std::endl;
+	}
+
+
+}
+
+
+
+#endif