Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/SSEAStarNode.cs
+++ b/srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/SSEAStarNode.cs
@@ -0,0 +1,27 @@
+namespace RobotNet10.GlobalPathPlanner.Model;
+
+public class SSEAStarNode
+{
+    public Guid Id { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public Orientation Orientation { get; set; }
+    public double Cost { get; set; }
+    public double Heuristic { get; set; }
+    public double TotalCost => Cost + Heuristic;
+    public string? Name { get; set; }
+    public SSEAStarNode? Parent { get; set; }
+    public List<SSEAStarNode> NegativeNodes { get; set; } = [];
+
+    public override bool Equals(object? obj)
+    {
+        if (obj is SSEAStarNode other)
+            return Id == other.Id && Orientation == other.Orientation;
+        return false;
+    }
+
+    public override int GetHashCode()
+    {
+        return HashCode.Combine(Id, Orientation);
+    }
+}