/**
* Obtain the value of this node (accumulated distance to this node)
* Returns 0 on failure to find the node.
*/
gcc_pure
AStarPriorityValue GetNodeValue(const Node &node) const {
node_value_const_iterator it = node_values.find(node);
if (cur->first == node)
return cur->second;
if (it == node_values.end())
return AStarPriorityValue(0);
return it->second;
}
gcc_pure
AStarPriorityValue Adjust(const bool is_min) const {
return is_min ? *this : AStarPriorityValue(ASTAR_MINMAX_OFFSET - g,
ASTAR_MINMAX_OFFSET - h);
}
/**
* Resets as if constructed afresh
*
* @param n Node to start
*/
void Restart(const Node &node) {
Clear();
Push(node, node, AStarPriorityValue(0));
}
/**
* Constructor
*
* @param n Node to start
* @param is_min Whether this algorithm will search for min or max distance
*/
AStar(const Node &node, unsigned reserve_default = ASTAR_QUEUE_SIZE)
{
Reserve(reserve_default);
Push(node, node, AStarPriorityValue(0));
}
constexpr
AStarPriorityValue operator+(const AStarPriorityValue& other) const {
return AStarPriorityValue(g + other.g, other.h);
}
constexpr
AStarPriorityValue Adjust() const {
return is_min ? *this : AStarPriorityValue(MINMAX_OFFSET - g,
MINMAX_OFFSET - h);
}
