//?STL?A*?Search?implementation
//?Copyright?2001?Justin?Heyes-Jones

//?used?for?text?debugging
#include?
#include?
#include?
#include?
#include?
#include?

//?stl?includes
#include?
#include?
#include?

using?namespace?std;

//?fast?fixed?size?memory?allocator?used?for?fast?node?memory?management
#include?“fsa.h“

//?Fixed?size?memory?allocator?can?be?disabled?to?compare?performance
//?Uses?std?new?and?delete?instead?if?you?turn?it?off
#define?USE_FSA_MEMORY?1

//?disable?warning?that?debugging?information?has?lines?that?are?truncated
//?occurs?in?stl?headers
#pragma?warning（?disable?:?4786?）


#define?DEBUG_LISTS?0
#define?DEBUG_LIST_LENGTHS_ONLY?0


//?Global?data

//?The?world?map

const?int?MAP_WIDTH?=?20;
const?int?MAP_HEIGHT?=?20;
int?NumofNodes;
int?AvgDist;

/*
int?mymap[?MAP_WIDTH?*?MAP_HEIGHT?]?=?
{

//?0001020304050607080910111213141516171819
	11111111111111111111???//?00
	19919911191999991111???//?01
	11911999191919199911???//?02
	19911999191919199911???//?03
	11111199191911119911???//?04
	11119111191111911111???//?05
	19999111111999911111???//?06
	11999999911199999991???//?07
	19111111111911111111???//?08
	11199999991199999991???//?09
	11111191191111111111???//?10
	19999919191999991111???//?11
	19191999191919199911???//?12
	19191999191919199911???//?13
	19111199191911119911???//?14
	11119111191111911111???//?15
	19999111111999911111???//?16
	11999999911199999991???//?17
	19111111111911111111???//?18
	11999999991199999911???//?19

};
*/

//let‘s?just?assume?5?nodes?first
//float?coordination[5][2]={{00}?{10}?{20}?{30}?{40}};
//int?connect[5][5]={{0?1?0?0?0}?{1?0?1?0?0}?{0?1?0?1?0}?{0?0?1?0?1}?{0?0?0?1?0}};
//float?coordination[4][2]={{00}?{10}?{0?1}?{1?1}};
//int?connect[4][4]={{0?1?1?0}?{1?0?0?1}?{1?0?0?1}?{0?1?1?0}};

//double?coordination[]?=?{0?0?1?0?0?1?1?1};
//double?connect[]={0?1?1?0?1?0?0?1?1?0?0?1?0?1?1?0};
double?*coordination;
double?*connect;

double?GetX（int?id）
{
	//return?coordination[id][0];
	return?*（coordination?+?id*2）;
}

double?GetY（int?id）
{
	//return?coordination[id][1];
	return?*（coordination?+?id*2?+?1）;
}

//?map?helper?functions

double?GetMap（int?x?int?y）
{
	//return?connect[x][y];

	return?*（connect?+?x*NumofNodes?+?y）;
}





//?The?AStar?search?class.?UserState?is?the?users?state?space?type
template??class?AStarSearch
{

public

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件???????27278??2005-06-13?18:08??Astar.cpp
?????文件???????24576??2005-08-12?14:43??Astar.dll
?????文件????????3370??2005-08-12?14:28??dijkstra.m
?????文件????????4978??2001-12-02?19:29??fsa.h
?????文件????????2693??2005-08-12?14:46??Spath_test.m
?????文件???????16069??2005-06-13?01:41??stlastar.h