list<TPoint> PathFindAStar::computePath(TPoint startPoint, TPoint endPoint)
{
TPoint current;
myCloseList.clear();
myOpenList.push_back(startPoint);
computeHeuristics(endPoint);
Visited myNavigated;
myNavigated.clear();
myMap->getGraph()[startPoint.x][startPoint.y].poids=0;
myMap->getGraph()[startPoint.x][startPoint.y].heuristic=
myMap->getGraph()[startPoint.x][startPoint.y].poids+computeHeuristic(startPoint,endPoint);
while(myOpenList.size()!=0)
{
current=minHeuristic(myOpenList);
if((current.x==endPoint.x) && (current.y==endPoint.y))
{
return reconstruire(myNavigated,endPoint);
}
removeFromList(myOpenList,current);
myCloseList.push_front(current);
list<TPoint> neibs= myMap->getGraph()[current.x][current.y].points;
list<TPoint>::iterator p;
orderNeibs(neibs,endPoint);
for(p=neibs.begin();p!=neibs.end();p++)
{
if(belongs(myCloseList,*p))
{
}
else
{
int tentative=myMap->getGraph()[current.x][current.y].poids+1;
if((!belongs(myOpenList,*p))||(tentative<=myMap->getGraph()[(*p).x][(*p).y].poids))
{
myNavigated[make_pair((*p).x,(*p).y)]=make_pair(current.x,current.y);
myMap->getGraph()[(*p).x][(*p).y].poids=tentative;
myMap->getGraph()[(*p).x][(*p).y].heuristic=tentative+computeHeuristic((*p),endPoint);
if(!belongs(myOpenList,*p))
{
myOpenList.push_front(*p);
}
}
}
}
}
list<TPoint> b;
return b;
}
