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astar.h

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#ifndef _ASTAR_H
#define _ASTAR_H

#include <star.h>
#include <motion_chain.h>
class OGrid;

class AStar : public Star
{
public:
  AStar(OGrid* grid); 
  bool search(motion_chain & path, motion start, motion goal);
protected:
  AStar(void);
};
#endif

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