class Theseus::Solvers::Astar::Node

This is the data structure used by the Astar solver to keep track of the current cost of each examined cell and its associated history (path back to the start).

Although you will rarely need to use this class, it is documented because applications that wish to visualize the A* algorithm can use the open set of Node instances to draw paths through the maze as the algorithm runs.

Attributes

cost[RW]

The total cost associated with this node (path_cost + estimate)

estimate[RW]

The (optimistic) estimate for how much further the exit is from this node.

history[R]

The array of points leading from the starting point, to this node.

next[RW]

The next node in the linked list for the set that this node belongs to.

path_cost[RW]

The path cost of this node (the distance from the start to this cell, through the maze)

point[RW]

The point in the maze associated with this node.

under[RW]

Whether the node is on the primary plane (false) or the under plane (true)