graph.h

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#pragma once
 
#include <cfloat>
#include <functional>
 
template <typename T>
struct GraphEdge {
  std::reference_wrapper<T> target;
  std::reference_wrapper<T> source;
  float cost;
};
 
struct GraphPosition {
  int x, y;
 
  bool operator==(const GraphPosition& other) const noexcept {
    return x == other.x && y == other.y;
  }
};
 
struct GraphPositionHash {
  size_t operator()(const GraphPosition& p) const noexcept {
    return (std::hash<int>()(p.x) << 1) ^ std::hash<int>()(p.y);
  }
};
 
struct NodeRecord {
  GraphPosition pos;
  float cost_from_start = FLT_MAX;
  float heuristic = 0.f;
  GraphPosition parent;
  bool has_parent = false;
 
  float total_cost() const noexcept { return cost_from_start + heuristic; }
};