astar.h

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namespace ast
{

class point_t 
{ 
public:
  uint32_t x, y; 

  point_t( uint32_t x, uint32_t y ) : x(x), y(y) {}
};

bool astar( uint8_t* map, 
                                uint32_t width, 
                                uint32_t height,
                                const point_t start, 
                                const point_t goal, 
                                std::vector<point_t>& path );

}