00001
00011 typedef struct _GraphMapCell {
00012 float h;
00013 float f;
00014 float g;
00015 int bx;
00016 int by;
00017 int processed;
00018 } GraphMapCell;
00019
00020 #ifdef __cplusplus
00021 extern "C" {
00022 #endif
00023 int aAlgorithm(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real, double ** original_path);
00024 void calculateMapHeuristic(int xgoal, int ygoal);
00025 float calculateCost(int x1, int y1, int x2, int y2);
00026 void initGraphStructure(void);
00027 int getPathLength(int xstart, int ystart, int xgoal, int ygoal);
00028 void ShmapAllFreeSpace(void);
00029 #ifdef __cplusplus
00030 }
00031 #endif
00032
