/**
 * space_server 任务A星规划。
 *
 * © 2020 成都河狸智能科技有限责任公司。保留所有权利。
 *
 * 作者: zhq1229
 */

#ifndef __ASTAR_H__
#define __ASTAR_H__

#include "task/path.h"

namespace task {

namespace astar {

enum AstartCode {
    ASTART_SUCCEED = 0,
    ASTART_SAME_POS,
    ASTART_ILLEGAL_SATRT,
    ASTART_ILLEGAL_END,
    ASTART_START_NOT_FOUND,
    ASTART_END_NOT_FOUND,
    ASTART_UNREACHABLE,
};

bool plan(
    task::path::Paths &path, PointId start,
    PointId end, task::path::Paths &plan);
bool plan(
    task::path::Paths &path, PointId start,
    PointId end, task::path::Paths &plan, AstartCode &code);
bool plan(
    task::path::Paths &path, task::path::PathPointPtr start,
    task::path::PathPointPtr end, task::path::Paths &plan);
bool plan(
    task::path::Paths &path, task::path::PathPointPtr start,
    task::path::PathPointPtr end, task::path::Paths &plan, AstartCode &code);

}  // namespace astar

}  // namespace task

#endif  // __ASTAR_H__