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44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
#include <iostream>
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#include <astar/astar.hpp>
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auto main() -> int {
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// Enable debug mode with template argument, this helps avoid performance issues on non-debug classes
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AStar::AStar<uint32_t, true> pathFinder;
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// Set lambda function to debug current node
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std::function<void(const AStar::Node<uint32_t>* node)> debugCurrentNode = [](const AStar::Node<uint32_t>* node) {
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std::cout << "Current node: " << node->pos.x << ", " << node->pos.y << std::endl;
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};
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pathFinder.setDebugCurrentNode(debugCurrentNode);
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// Set lambda function to debug open node
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std::function<void(const AStar::Node<uint32_t>* node)> debugOpenNode = [](const AStar::Node<uint32_t>* node) {
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std::cout << "Add to open list: " << node->pos.x << ", " << node->pos.y << std::endl;
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};
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pathFinder.setDebugOpenNode(debugOpenNode);
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// Define the map size (width, height)
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pathFinder.setWorldSize({10, 10});
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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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// Add a obstacle point (5, 5) and (5, 6)
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pathFinder.addObstacle({5, 5});
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pathFinder.addObstacle({5, 6});
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// Find the path from (0, 0) to (9, 9)
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auto path = pathFinder.findPath({0, 0}, {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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