route.h

#ifndef ROUTE_H
#define ROUTE_H
 
#include <QGraphicsScene>
#include <QPolygonF>
#include <QPointF>
#include <vector>
#include <cmath>
#include <QFileDialog>
#include <QGraphicsTextItem>
#include <QXmlStreamReader>
#include <QDebug>
 
#include "obstacle.h"
 
struct Node {
    QPointF Point; 
    double cost; 
    int heuristic; 
    Node* parent; 
    Node(int x, int y, double cost, int heuristic, Node* p = nullptr)
        : Point(x, y), cost(cost), heuristic(heuristic), parent(p) {}
 
};
 
class Route {
public:
    std::vector<QPolygonF> Polygons; 
    std::vector<Node> WayPoints; 
    QPolygonF Polygon; 
    int flag = 1; 
    Obstacle obstacle; 
    void loadMapFromXml(const QString& fileName, QGraphicsScene* scene);
 
    void findOptimalRoute(QPointF* start, QPointF* finish);
 
    double distance(QPointF* current, QPointF* neighbor);
 
    int heuristic(int x1, int y1, int x2, int y2);
 
    int findCost(Node* current, Node* goal);
 
    std::vector<Node> getNeighbors(Node* node, Node* goal, int n);
 
    bool searchPoint(QPointF);
 
    std::vector<Node> aStar(Node start, Node goal, int n);
};
 
#endif // ROUTE_H