int main(int argc, char *argv[])
{
// Profiling observation: Using int instead of double cost provides marginal improvement (~10%)
GenericSearchGraphDescriptor<myNode,double> myGraph;
// We describe the graph, cost function, heuristics, and the start & goal in this block
// ------------------------------------------------------------------------------------
// Set the functions
myGraph.getHashBin_fp = &getHashBin;
myGraph.isAccessible_fp = &isAccessible;
myGraph.getSuccessors_fp = &getSuccessors;
myGraph.getHeuristics_fp = &getHeuristics;
// Set other variables
myGraph.hashTableSize = 212; // Since in this problem, "getHashBin" can return a max of value 201.
myGraph.hashBinSizeIncreaseStep = 512; // By default it's 128. For this problem, we choose a higher value.
myNode tempNode;
tempNode.x = -150; tempNode.y = -150; // Start node
myGraph.SeedNode = tempNode;
tempNode.x = 150; tempNode.y = 150; // Goal node
myGraph.TargetNode = tempNode;
// ------------------------------------------------------------------------------------
// Planning
A_star_planner<myNode,double> planner;
planner.setParams(1.0, 10); // optional.
planner.init(myGraph);
planner.plan();
std::vector< std::vector< myNode > > paths = planner.getPlannedPaths();
printf("\nNumber of paths: %d\nPath coordinates: \n[ ", paths.size());
for (int a=0; a<paths[0].size(); a++)
printf("[%d, %d]; ", paths[0][a].x, paths[0][a].y);
printf(" ]\n\n");
tempNode.x = -100; tempNode.y = -100;
printf("Testing 'getNodeInfo': g-value of (%d,%d): %f\n\n", tempNode.x, tempNode.y, planner.getNodeInfo(tempNode).g);
}
