astar.h

/*
Copyright 2012 Abraham T. Stolk

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
*/

#ifndef ASTAR_H
#define ASTAR_H

#ifdef __cplusplus
extern "C"
{
#endif // __cplusplus

#ifndef LOGI
#ifdef __cplusplus
#include <cstdio>
#else
#include <stdio.h>
#endif
#define LOGI(...) { printf( __VA_ARGS__ ); printf("\n"); }
#define LOGW(...) { printf( "WRN " __VA_ARGS__ ); printf("\n"); }
#define LOGE(...) { printf( "ERR " __VA_ARGS__ ); printf("\n"); }
#endif

#include "goap.h"

struct astarnode;

//!< A node in our network of world states.
struct astarnode
{
	worldstate_t ws;		//!< The state of the world at this node.
	int g;				//!< The cost so far.
	int h;				//!< The heuristic for remaining cost (don't overestimate!)
	int f;				//!< g+h combined.
	const char* actionname;		//!< How did we get to this node?
	worldstate_t parentws;		//!< Where did we come from?
};


typedef struct astarnode astarnode_t;


//! Make a plan of actions that will reach desired world state. Returns total cost of the plan.
extern int astar_plan
(
        actionplanner_t const* ap, 		//!< the goap action planner that holds atoms and action repertoire
        worldstate_t start, 		//!< the current world state
        worldstate_t goal, 		//!< the desired world state
        const char** plan,              //!< for returning all actions that make up plan
        worldstate_t* worldstates,      //!< for returning intermediate world states
        int* plansize                   //!< in: size of plan buffer, out: size of plan (in nr of steps)
);

#ifdef __cplusplus
}
#endif

#endif