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annotate engine/core/pathfinder/routepather/routepathersearch.h @ 310:8afb9b443f66

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merged the pathfinding branch to trunk
author wenlin_fife@33b003aa-7bff-0310-803a-e67f0ece8222
date Fri, 14 Aug 2009 00:00:58 +0000
parents 1465536aec94
children 64738befdf3b
rev   line source
0
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1 /***************************************************************************
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2 * Copyright (C) 2005-2008 by the FIFE team *
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3 * http://www.fifengine.de *
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4 * This file is part of FIFE. *
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5 * *
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6 * FIFE is free software; you can redistribute it and/or *
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7 * modify it under the terms of the GNU Lesser General Public *
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8 * License as published by the Free Software Foundation; either *
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9 * version 2.1 of the License, or (at your option) any later version. *
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10 * *
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11 * This library is distributed in the hope that it will be useful, *
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12 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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14 * Lesser General Public License for more details. *
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15 * *
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16 * You should have received a copy of the GNU Lesser General Public *
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17 * License along with this library; if not, write to the *
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18 * Free Software Foundation, Inc., *
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19 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
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20 ***************************************************************************/
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21
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22 #ifndef FIFE_PATHFINDER_ROUTEPATHERSEARCH
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23 #define FIFE_PATHFINDER_ROUTEPATHERSEARCH
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24
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25 // Standard C++ library includes
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26
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27 // 3rd party library includes
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28
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29 // FIFE includes
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30 // These includes are split up in two parts, separated by one empty line
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31 // First block: files included from the FIFE root src directory
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32 // Second block: files included from the same folder
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33 #include "util/structures/priorityqueue.h"
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34
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35 namespace FIFE {
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36
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37 class Map;
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38 class SearchSpace;
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39 class Heuristic;
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40
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41 /** RoutePatherSearch using A*
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42 *
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43 * For now this class uses offline A*, however eventually this will be switched over to RTA*.
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44 */
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45 class RoutePatherSearch {
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46 public:
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47 RoutePatherSearch(const int session_id, const Location& from, const Location& to, SearchSpace* searchSpace);
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48
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49 typedef std::list<Location> Path;
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50 /** An enumeration of the different status the search can be in.
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51 *
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52 */
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53 enum SearchStatus {
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54 search_status_failed,
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55 search_status_complete,
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56 search_status_incomplete
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57 };
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58
0
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59 virtual void updateSearch();
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60
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61 virtual Path calcPath();
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62
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63 /** Retrieves the session id.
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64 *
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65 * @return The searches session id in the pather.
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66 */
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67 int getSessionId() const {
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68 return m_sessionId;
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69 }
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70
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71 /** Retrieves the pather.
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72 *
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73 * @return A pointer to the abstract pather which
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74 */
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75 SearchSpace* getSearchSpace() const {
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76 return m_searchspace;
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77 }
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78
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79 /** A small function which returns the current status of the search.
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80 *
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81 * @return An integer value representing the status, which is enumerated by this class.
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82 */
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83 int getSearchStatus() const {
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84 return m_status;
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85 }
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86
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87 protected:
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88 /** Sets the current status of the search.
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89 *
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90 * @param status The status to set.
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91 */
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92 void setSearchStatus(const SearchStatus status) {
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93 m_status = status;
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94 }
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95
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96 private:
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97 //A location object representing where the search started.
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98 Location m_to;
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99
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100 //A location object representing where the search ended.
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101 Location m_from;
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102
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103 //An integer containing the session id for this search.
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104 int m_sessionId;
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105
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106 //A pointer to the pather that owns this search.
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107 SearchSpace* m_searchspace;
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108
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109 //An enumeration of the searches current status.
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110 SearchStatus m_status;
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111
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112 //The class to use to calculate the heuristic value.
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113 Heuristic* m_heuristic;
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114
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115 //The destination coordinate as an int.
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116 int m_destCoordInt;
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117
0
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118 //The start coordinate as an int.
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119 int m_startCoordInt;
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120
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121 //The next coordinate int to check out.
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122 int m_next;
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123
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124 //The shortest path tree.
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125 std::vector<int> m_spt;
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126
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127 //The search frontier.
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128 std::vector<int> m_sf;
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129
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130 //A table to hold the costs.
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131 std::vector<float> m_gCosts;
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132
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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133 //priority queue to hold nodes on the sf in order.
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134 PriorityQueue<int, float> m_sortedfrontier;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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135 };
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136 }
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137 #endif