w

3 files changed, 24 insertions, 13 deletions

diff --git a/src/search-astar.hpp b/src/search-astar.hpp
index c31b348f..ea150c76 100644
--- a/src/search-astar.hpp
+++ b/src/search-astar.hpp
@@ -11,7 +11,7 @@ namespace floormat {
 
 class world;
 struct point;
-struct path_search_result;
+class path_search_result;
 
 class astar
 {
diff --git a/src/search-node.hpp b/src/search-node.hpp
index c2977f84..c911e735 100644
--- a/src/search-node.hpp
+++ b/src/search-node.hpp
@@ -1,14 +1,21 @@
 #pragma once
 #include "compat/defs.hpp"
 #include "search-result.hpp"
+#include "point.hpp"
 #include <vector>
 #include <Corrade/Containers/Pointer.h>
 
 namespace floormat {
 
+struct path_search_result::pair
+{
+    point pt;
+    uint32_t length = 0;
+};
+
 struct path_search_result::node
 {
-    friend struct path_search_result;
+    friend class path_search_result;
     friend struct test_app;
 
     node() noexcept;
@@ -16,6 +23,7 @@ struct path_search_result::node
     fm_DECLARE_DEFAULT_MOVE_ASSIGNMENT_(node);
 
     std::vector<point> vec;
+    std::vector<pair> vec_;
 
 private:
     Pointer<node> _next;
diff --git a/src/search-result.hpp b/src/search-result.hpp
index 257d25a3..fc5397a0 100644
--- a/src/search-result.hpp
+++ b/src/search-result.hpp
@@ -8,10 +8,20 @@ namespace floormat {
 
 struct point;
 
-struct path_search_result final
+class path_search_result final
 {
     friend struct test_app;
+    struct pair;
+    struct node;
 
+    Pointer<node> _node;
+    float _time = 0;
+    uint32_t _cost = 0, _distance = (uint32_t)-1;
+    bool _found : 1 = false;
+
+    static Pointer<node> _pool; // NOLINT(*-avoid-non-const-global-variables)
+
+public:
     const point* data() const;
     const point& operator[](size_t index) const;
     size_t size() const;
@@ -23,8 +33,11 @@ struct path_search_result final
     void set_found(bool value);
     uint32_t distance() const;
     void set_distance(uint32_t dist);
+    bool is_simplified() const;
+    const pair& simplified();
 
     vector_wrapper<point, vector_wrapper_repr::ref> raw_path();
+    vector_wrapper<point, vector_wrapper_repr::ref> raw_simplified_path();
     ArrayView<const point> path() const;
     explicit operator ArrayView<const point>() const;
     explicit operator bool() const;
@@ -35,16 +48,6 @@ struct path_search_result final
     path_search_result(path_search_result&&) noexcept;
     path_search_result& operator=(path_search_result&&) noexcept;
     ~path_search_result() noexcept;
-
-private:
-    struct node;
-
-    static Pointer<node> _pool; // NOLINT(*-avoid-non-const-global-variables)
-
-    Pointer<node> _node;
-    float _time = 0;
-    uint32_t _cost = 0, _distance = (uint32_t)-1;
-    bool _found : 1 = false;
 };
 
 } // namespace floormat