Program Listing for File jump_point_search.hpp

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#ifndef JUMP_POINT_SEARCH_H
#define JUMP_POINT_SEARCH_H

#include <queue>
#include <unordered_set>

#include "path_planning/planner.hpp"
#include "utils/utils.hpp"

class JumpPointSearch : public Planner {
 public:
  explicit JumpPointSearch(const std::vector<std::vector<int>>& grid)
      : Planner(grid){};

  std::tuple<bool, std::vector<Node>> Plan(const Node& start,
                                           const Node& goal) override;

  bool HasForcedNeighbours(const Node& new_point, const Node& next_point,
                           const Node& motion) const;

  Node jump(const Node& new_point, const Node& motion, const int id);

 private:
  std::priority_queue<Node, std::vector<Node>, compare_cost> open_list_;
  std::vector<Node> closed_list_;
  std::unordered_set<int> pruned;
  Node start_, goal_;
};
#endif  // JUMP_POINT_SEARCH_H