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Node Class Reference

A single cell in the Search (A*/D*) implementation. More...

#include <node.h>

Data Fields
uint8	x
word	y
uint8	cost
word	Gvalue
word	rhs
	rhs is used for Hvalue in A*, rhs in D*
Node *	parent

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Detailed Description

A single cell in the Search (A*/D*) implementation.

Node struct. This is the structure for a single node in the Star field grid. The node represents a location on the field, and maintains the values G, H in the function: F = G + H where: G is the actual distance from last position to current position H is a heuristic used for the cost from current position to goal. In real units, a node is equal to Local_Map_Spec::unit() millimeters square.

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Field Documentation

uint8 cost

The type of terrain of the node--how easily this terrain is to move through (0=clear-255=impassible) (Ref. OGrid). Note: Can also implement a cost from node to each edge cost[EDGES] as done elsewhere;

word Gvalue

Actual cheapest cost to this node from start. This is the cost of the current cheapest path from the start node.

Node* parent

The parent of this node. By following the parent links back to the starting node, the cheapest path from the start to this node can be found.

word rhs

rhs is used for Hvalue in A*, rhs in D* Heuristic estimate to goal. This is the heuristic estimate of cost to the goal from this node. With the cost from the start.

uint8 x

The x coordinate. This is the actual x-coordinate of this node on the field.

word y

The y coordinate. This is the actual y-coordinate of this node on the field.

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