diff options
Diffstat (limited to 'yapf/yapf_base.hpp')
| -rw-r--r-- | yapf/yapf_base.hpp | 78 |
1 files changed, 39 insertions, 39 deletions
diff --git a/yapf/yapf_base.hpp b/yapf/yapf_base.hpp index 96893b39d..98ca6ba9c 100644 --- a/yapf/yapf_base.hpp +++ b/yapf/yapf_base.hpp @@ -14,34 +14,34 @@ EXTERN_C_END extern int _total_pf_time_us; /** CYapfBaseT - A-star type path finder base class. - Derive your own pathfinder from it. You must provide the following template argument: - Types - used as collection of local types used in pathfinder - - Requirements for the Types struct: - ---------------------------------- - The following types must be defined in the 'Types' argument: - - Types::Tpf - your pathfinder derived from CYapfBaseT - - Types::NodeList - open/closed node list (look at CNodeList_HashTableT) - NodeList needs to have defined local type Titem - defines the pathfinder node type. - Node needs to define local type Key - the node key in the collection () - - For node list you can use template class CNodeList_HashTableT, for which - you need to declare only your node type. Look at test_yapf.h for an example. - - - Requrements to your pathfinder class derived from CYapfBaseT: - ------------------------------------------------------------- - Your pathfinder derived class needs to implement following methods: - FORCEINLINE void PfSetStartupNodes() - FORCEINLINE void PfFollowNode(Node& org) - FORCEINLINE bool PfCalcCost(Node& n) - FORCEINLINE bool PfCalcEstimate(Node& n) - FORCEINLINE bool PfDetectDestination(Node& n) - - For more details about those methods, look at the end of CYapfBaseT - declaration. There are some examples. For another example look at - test_yapf.h (part or unittest project). -*/ + * Derive your own pathfinder from it. You must provide the following template argument: + * Types - used as collection of local types used in pathfinder + * + * Requirements for the Types struct: + * ---------------------------------- + * The following types must be defined in the 'Types' argument: + * - Types::Tpf - your pathfinder derived from CYapfBaseT + * - Types::NodeList - open/closed node list (look at CNodeList_HashTableT) + * NodeList needs to have defined local type Titem - defines the pathfinder node type. + * Node needs to define local type Key - the node key in the collection () + * + * For node list you can use template class CNodeList_HashTableT, for which + * you need to declare only your node type. Look at test_yapf.h for an example. + * + * + * Requrements to your pathfinder class derived from CYapfBaseT: + * ------------------------------------------------------------- + * Your pathfinder derived class needs to implement following methods: + * FORCEINLINE void PfSetStartupNodes() + * FORCEINLINE void PfFollowNode(Node& org) + * FORCEINLINE bool PfCalcCost(Node& n) + * FORCEINLINE bool PfCalcEstimate(Node& n) + * FORCEINLINE bool PfDetectDestination(Node& n) + * + * For more details about those methods, look at the end of CYapfBaseT + * declaration. There are some examples. For another example look at + * test_yapf.h (part or unittest project). + */ template <class Types> class CYapfBaseT { public: @@ -105,12 +105,12 @@ public: } /** Main pathfinder routine: - - set startup node(s) - - main loop that stops if: - - the destination was found - - or the open list is empty (no route to destination). - - or the maximum amount of loops reached - m_max_search_nodes (default = 10000) - @return true if the path was found */ + * - set startup node(s) + * - main loop that stops if: + * - the destination was found + * - or the open list is empty (no route to destination). + * - or the maximum amount of loops reached - m_max_search_nodes (default = 10000) + * @return true if the path was found */ inline bool FindPath(const Vehicle* v) { m_veh = v; @@ -160,16 +160,16 @@ public: } /** If path was found return the best node that has reached the destination. Otherwise - return the best visited node (which was nearest to the destination). - */ + * return the best visited node (which was nearest to the destination). + */ FORCEINLINE Node& GetBestNode() { return (m_pBestDestNode != NULL) ? *m_pBestDestNode : *m_pBestIntermediateNode; } /** Calls NodeList::CreateNewNode() - allocates new node that can be filled and used - as argument for AddStartupNode() or AddNewNode() - */ + * as argument for AddStartupNode() or AddNewNode() + */ FORCEINLINE Node& CreateNewNode() { Node& node = *m_nodes.CreateNewNode(); @@ -203,7 +203,7 @@ public: } /** AddNewNode() - called by Tderived::PfFollowNode() for each child node. - Nodes are evaluated here and added into open list */ + * Nodes are evaluated here and added into open list */ void AddNewNode(Node& n) { // evaluate the node |