added astar to smoothing transition

2016-04-11 10:57:29 +02:00
parent 5aad08e17c
commit de8783b9ca
13 changed files with 146 additions and 52 deletions
--- a/code/DijkstraMapper.h
+++ b/code/DijkstraMapper.h
@@ -26,6 +26,9 @@ public:
 		return d;
 	}

+    const std::vector<MyGridNode>& getAllNodes() const {return grid.getNodes();}
+    decltype(grid.neighbors(MyGridNode())) getNeighbors(const MyGridNode& node) const {return grid.neighbors(node);}
+    float getHeuristic(const MyGridNode& n1, const MyGridNode& n2) const {return std::abs(n1.x_cm - n2.x_cm) + std::abs(n1.y_cm - n2.y_cm);}
 };

 /**