one_direction_ordered_path_finder.h

#pragma once
 
#include <memory>
#include <unordered_map>
#include <set>
#include <utility>
#include <unordered_set>
#include <base/grid_path_finder.h>
#include <future>
#include "scene.h"
#include "one_direction_path_finder.h"
 
 
namespace bmpf {
    class OneDirectionOrderedPathFinder : public OneDirectionPathFinder {
    public:
        OneDirectionOrderedPathFinder(const std::shared_ptr<bmpf::Scene> &scene,
                                      bool showTrace,
                                      unsigned int maxOpenSetSize,
                                      int gridSize,
                                      unsigned int maxNodeCnt,
                                      unsigned int kG = 1,
                                      unsigned int kD = 0,
                                      int threadCnt = 1)
                : OneDirectionPathFinder(scene,
                                         showTrace,
                                         maxOpenSetSize,
                                         gridSize,
                                         maxNodeCnt,
                                         kG, kD, threadCnt) {};
 
 
    protected:
 
        std::vector<unsigned long> _getSizeOrderedOffsetIndexesSingleRobot(std::vector<int> &deltas);
 
        std::vector<unsigned long> _getOrderedOffsetIndexesMultiRobot(std::vector<int> &deltas);
 
        std::vector<unsigned long> _getOrderedOffsetIndexes(std::vector<int> &deltas);
 
        std::shared_ptr<PathNode> _forEachNeighbor(
                std::shared_ptr<PathNode> currentNode,
                std::vector<int> &endCoords
        ) override;
 
    };
 
}