void MyastarPlanner::addNeighborCellsToOpenList(set<coupleOfCells> & OPL, vector <unsigned int> neighborCells, unsigned int parent, float gCostParent, unsigned int goalCell, double max) //,float tBreak)
{
set<coupleOfCells>::iterator it;
//vector <coupleOfCells> neighborsCellsOrdered;
for(uint i=0; i< neighborCells.size(); i++)
{
coupleOfCells CP;
CP.index=neighborCells[i]; //insert the neighbor cell
CP.parent=parent; //insert the parent cell
//calculate the gCost
CP.gCost=gCostParent+getMoveCost(parent,neighborCells[i]);
//calculate the hCost: Euclidian distance from the neighbor cell to the goalCell
CP.hCost=calculateHCost(neighborCells[i],goalCell);
//calculate fcost
double w=(CP.hCost/max)*3+1;
//double w=1;
CP.fCost=CP.gCost+w*CP.hCost;
// neighborsCellsOrdered.push_back(CP);
it = getPositionInList(OPL, CP.index);
if( it == openList.end() )
OPL.insert(CP);
else if (CP.fCost < it->fCost and CP.parent != it->parent){
OPL.erase(it);
OPL.insert(CP);
}
}
}
bool PlayerBot::canMove()
{
return getMoveCost() <= getActionPoints();
}
void PlayerBot::moved()
{
pointLeft -= getMoveCost();
pointLeft = pointLeft < 0 ? 0 : pointLeft;
}