13 #include <boost/optional.hpp> 36 boost::optional<Vertex>
42 const std::vector<Vertex>& considered
boost::optional< Vertex > nextSuccessor(const Graph *graph, const Vertex &v, const Vertex &goal, const short &agent, const std::vector< Vertex > &considered)
This function yields the next vertex that shall be processed by A*.
Definition: Astar.cpp:24
std::vector< Vertex > astar(const Graph *graph, const Vertex &start, const Vertex &goal, const short &agent)
Find a path from start to goal using A*.
Definition: Astar.cpp:79
boost::graph_traits< Graph >::vertex_descriptor Vertex
Shorthand notation for the graph vertices.
Definition: Using.h:48
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, GraphVertex, GraphEdge > Graph
Shorthand notation for the graph used.
Definition: Using.h:42
float cost(const Graph *graph, const Vertex &ni, const Vertex &nj)
Return the edge weight of the edge {ni, nj} in graph.
Definition: Astar.cpp:66
This file provides using and enum declarations.