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37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
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#include <astar/astar.hpp>
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#include <iostream>
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auto main() -> int {
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// Create the template class with optional a type (e.g. uint32_t) and a boolean
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// if you want enable debug mode (AStar::AStar<uint32_t, true>)
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AStar::AStarFast pathFinder;
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// Set the heuristic function (manhattan, euclidean, octagonal etc...), it is optional, default is euclidean
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pathFinder.setHeuristic(AStar::Heuristic::manhattan);
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// if you want to enable diagonal movement, it is optional, default is false
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pathFinder.setDiagonalMovement(true);
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// Create world 9x9 filled with 0
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std::vector<uint32_t> world(9 * 9, 0);
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// set lambda function to check if is an obstacle (value == 1)
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auto isObstacle = [](uint32_t value) -> bool { return value == 1; };
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pathFinder.setObstacle(isObstacle);
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// Add a obstacle point (5, 5) and (5, 6)
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world[5 + 5 * 9] = 1;
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world[5 + 6 * 9] = 1;
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// Find the path from (0, 0) to (9, 9), it it equal to 0, then the path is not found
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// This version of findPath() is faster due direct access to the world
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auto path = pathFinder.findPath({0, 0}, {9, 9}, world, {9, 9});
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// Print the path
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for (auto& p : path) {
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std::cout << p.x << " " << p.y << std::endl;
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}
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return 0;
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}
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