aa_sipp.h

#ifndef AA_SIPP_H
#define AA_SIPP_H

#include "cSearch.h"
#include "constraints.h"
#include "aa_sipp_o.h"

class AA_SIPP : public cSearch
{

public:

    AA_SIPP(double weight, bool breakingties, int constraints_type);
    ~AA_SIPP();
    SearchResult startSearch(cLogger *Log, cMap &Map);
    Constraints *constraints;
private:

    void addOpen(Node &newNode);
    Node findMin(int size);
    bool stopCriterion();
    double calculateDistanceFromCellToCell(double start_i, double start_j, double fin_i, double fin_j);
    void findSuccessors(const Node curNode, const cMap &Map, std::list<Node> &succs, int numOfCurAgent);
    void makePrimaryPath(Node curNode);
    void makeSecondaryPath(Node curNode);
    void calculateLineSegment(std::vector<Node> &line, const Node &start, const Node &goal);
    void addConstraints(){}
    Node resetParent(Node current, Node Parent, const cMap &Map);
    bool findPath(int numOfCurAgent, const cMap &Map);
    std::vector<conflict> CheckConflicts();//bruteforce checker. It splits final(already built) trajectories into sequences of points and checks distances between them
    double weight;
    bool breakingties;
    int constraints_type;
    unsigned int closeSize, openSize;
    std::list<Node> lppath;
    std::vector<std::list<Node>> open;
    std::unordered_multimap<int, Node> close;
    std::vector<Node> hppath;

};

#endif // AA_SIPP_H