hybrid_breadth_first.h

#pragma once
#ifndef HYBRID_BREADTH_FIRST_H
#define HYBRID_BREADTH_FIRST_H
#include<iostream>
#include<sstream>
#include<fstream>
#include<math.h>
#include<vector>
using namespace std;
class HBF {
public:
	int NUM_THETA_CELLS = 90;
	double SPEED = 1.45;
	double LENGTH = 0.5;
	struct maze_s {
		int g;
		int f;
		double x;
		double y;
		double theta;
	};
	struct maze_path {

		vector< vector< vector<int> > > closed;
		vector< vector< vector<maze_s> > > came_from;
		maze_s final;

	};
	HBF();
	virtual  ~HBF();
	static bool compare_maze_s(const HBF::maze_s &lhs, const HBF::maze_s &rhs);
	double heuristic(double x, double y, vector<int> goal);
	int theta_to_stack_number(double theta);
	int idx(double float_num);
	vector<maze_s> expand(maze_s state, vector<int> goal);
	maze_path search(vector<vector<int>> grid, vector<double> start, vector<int> goal);
	vector<maze_s> reconstruct_path(vector<vector<vector<maze_s>>> came_from, vector<double> start, HBF::maze_s final);

};
#endif // !HYBRID_BREADTH_FIRST_H