_ ___ __ _____
 / \ / _// /_ __ ___ __ / ___/__ ___
 / _ \ _\ \/ __/ _ \_/ _/ /_/ / __// _ \/ _ \
 /_/ \_\\__/__/ \____/_/ \___/_//_/\_ /
 \__/

AStarEngine is an implementation of A-Start algorithm in C++. This project is built with reference to Ref.[1], thus is similar to Ref.[1] in the main structure.

First, you need to inherit the AANode class and the AAGrid class according to your problem requirements, and then generate a AAEngine instance class with the inherited classes. To execute the program, you just need to set the start and goal nodes, and call the Search() methods. Noted that there are 3 ways to set the start and goal nodes, 1) by the constructor of AAEngine instance class, 2) through the SetStartAndGoalNodes(const NodeType&, const NodeType&) method, and 3) through the Search(const NodeType&, const NodeType&) method.

See the test code for more details.

[1] https://github.com/justinhj/astar-algorithm-cpp
[2] https://github.com/vandersonmr/A_Star_Algorithm
[3] http://code.google.com/p/recastnavigation/ [^1]

[^1] For the convenience of users who cannot access Google, I've forked Ref.[3] from Google. Check it at my repository.

By WeiQM.