Add files

Signed-off-by: Bensuperpc <bensuperpc@gmail.com>

example/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+
+project(astarExamples CXX)
+
+include(../cmake/project-is-top-level.cmake)
+include(../cmake/folders.cmake)
+
+if(PROJECT_IS_TOP_LEVEL)
+  find_package(astar REQUIRED)
+endif()
+
+add_custom_target(run-examples)
+
+function(add_example NAME)
+  add_executable("${NAME}" "${NAME}.cpp")
+  target_link_libraries("${NAME}" PRIVATE astar::astar)
+  target_compile_features("${NAME}" PRIVATE cxx_std_20)
+  add_custom_target("run_${NAME}" COMMAND "${NAME}" VERBATIM)
+  add_dependencies("run_${NAME}" "${NAME}")
+  add_dependencies(run-examples "run_${NAME}")
+endfunction()
+
+add_example(basic_example)
+add_example(debug_example)
+add_example(basic_fast_example)
+
+add_folders(Example)

example/basic_example.cpp

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+#include <astar/astar.hpp>
+#include <iostream>
+
+auto main() -> int {
+    // Create the template class with optional a type (e.g. uint32_t) and a boolean
+    // if you want enable debug mode (AStar::AStar<uint32_t, true>)
+    AStar::AStar pathFinder;
+
+    // Define the map size (width, height)
+    pathFinder.setWorldSize({10, 10});
+
+    // Set the heuristic function (manhattan, euclidean, octagonal etc...), it is optional, default is euclidean
+    pathFinder.setHeuristic(AStar::Heuristic::manhattan);
+
+    // if you want to enable diagonal movement, it is optional, default is false
+    pathFinder.setDiagonalMovement(true);
+
+    // Add a obstacle point (5, 5) and (5, 6)
+    pathFinder.addObstacle({5, 5});
+    pathFinder.addObstacle({5, 6});
+
+    // Find the path from (0, 0) to (9, 9), it it equal to 0, then the path is not found
+    auto path = pathFinder.findPath({0, 0}, {9, 9});
+
+    // Print the path
+    for (auto& p : path) {
+        std::cout << p.x << " " << p.y << std::endl;
+    }
+
+    return 0;
+}

example/basic_fast_example.cpp

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

example/debug_example.cpp

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+#include <iostream>
+
+#include <astar/astar.hpp>
+
+auto main() -> int {
+    // Enable debug mode with template argument, this helps avoid performance issues on non-debug classes
+    AStar::AStar<uint32_t, true> pathFinder;
+
+    // Set lambda function to debug current node
+    std::function<void(const AStar::Node<uint32_t>* node)> debugCurrentNode = [](const AStar::Node<uint32_t>* node) {
+        std::cout << "Current node: " << node->pos.x << ", " << node->pos.y << std::endl;
+    };
+    pathFinder.setDebugCurrentNode(debugCurrentNode);
+
+    // Set lambda function to debug open node
+    std::function<void(const AStar::Node<uint32_t>* node)> debugOpenNode = [](const AStar::Node<uint32_t>* node) {
+        std::cout << "Add to open list: " << node->pos.x << ", " << node->pos.y << std::endl;
+    };
+    pathFinder.setDebugOpenNode(debugOpenNode);
+
+    // Define the map size (width, height)
+    pathFinder.setWorldSize({10, 10});
+
+    // Set the heuristic function (manhattan, euclidean, octagonal etc...), it is optional, default is euclidean
+    pathFinder.setHeuristic(AStar::Heuristic::manhattan);
+
+    // if you want to enable diagonal movement, it is optional, default is false
+    pathFinder.setDiagonalMovement(true);
+
+    // Add a obstacle point (5, 5) and (5, 6)
+    pathFinder.addObstacle({5, 5});
+    pathFinder.addObstacle({5, 6});
+
+    // Find the path from (0, 0) to (9, 9)
+    auto path = pathFinder.findPath({0, 0}, {9, 9});
+
+    // Print the path
+    for (auto& p : path) {
+        std::cout << p.x << " " << p.y << std::endl;
+    }
+
+    return 0;
+}