std::vector<HFAEntry*> HFAEntry::FindChildren( const char *pszName,
const char *pszType)
{
int bErrorDetected = FALSE;
return FindChildren(pszName, pszType, 0, &bErrorDetected);
}
node A_Star(const scalar& size, const std::vector<std::vector<char> >& obstacles, std::set<node>* closed_set,cv::Mat* graphical_display, cv::VideoWriter& writer) {
static const int kImageScale = 600/size.y;
node goal_node;
goal_node.state.x = size.x-1;
goal_node.state.y = 0;
node initial;
initial.parent(0,0);
initial.state.x = 0;
initial.state.y = size.y-1;
initial.path_cost = 0;
initial.heuristic_cost = sqrt(pow(size.x-1,2)+pow(size.y-1,2));
OpenSetType open_set;
open_set.insert(initial);
while(open_set.size() > 0) {
node current = *(open_set.begin());
if((open_set.begin()->state==goal_node.state)) {
return current;
}
open_set.erase(open_set.begin());
closed_set->insert(current);
FindChildren(size,obstacles,¤t);
PushChildren(goal_node,current,&open_set,closed_set);
for(int x=0;x<kImageScale;x++) {
for(int y=0;y<kImageScale;y++) {
graphical_display->at<cv::Vec3b>(current.state.y*kImageScale+y,current.state.x*kImageScale+x)[1]=255;
}
}
imshow("progress",*graphical_display);
writer<<*graphical_display;
cv::waitKey(1);
}
//if we get this far there was no path found
node no_path;
no_path.state.x=-1;
return no_path;
}
ActorPtr Actor::FindChildren(const std::string& name) {
return FindChildren([&](const Actor& actor) {
return actor.GetName() == name;
});
}
