[Add] Nothing interesting just methods to grab specific nodes..
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@ -281,16 +281,53 @@ public:
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// -- Some methods for travelling through the solution. --
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// -- Some methods for travelling through the solution. --
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// Get the start node.
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// Get the start node.
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UserState* GetSolutionStart(void);
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UserState* GetSolutionStart(void) {
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_currentSolutionNode = _start;
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if(_start) {
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return &_start->_userState;
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} else {
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return NULL;
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}
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}
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// Get the next node.
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// Get the next node.
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UserState* GetSolutionNext(void);
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UserState* GetSolutionNext(void) {
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if(_currentSolutionNode) {
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if(_currentSolutionNode->child) {
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Node* child = _currentSolutionNode->child;
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_currentSolutionNode = _currentSolutionNode->child;
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return &child->_userState;
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}
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}
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return NULL;
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}
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// Get the end node.
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// Get the end node.
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UserState* GetSolutionEnd(void);
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UserState* GetSolutionEnd(void) {
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_currentSolutionNode = _goal;
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if(goal) {
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return &goal->_userState;
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} else {
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return NULL;
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}
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}
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// Step through the solution backwards.
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// Step through the solution backwards.
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UserState* GetSolutionPrev(void);
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UserState* GetSolutionPrev(void) {
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if(_currentSolutionNode) {
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if(_currentSolutionNode->parent) {
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Node* parent = _currentSolutionNode->parent;
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_currentSolutionNode = _currentSolutionNode->parent;
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return &parent->_userState;
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}
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}
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return NULL;
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}
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// It will be useful to be able to view the open
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// It will be useful to be able to view the open
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// and closed lists at each step for debugging.
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// and closed lists at each step for debugging.
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