Contains a template called map (inside the pathfinder::astar namespace, that takes as parameters:
- a map_type, this can be any matrix-type map that defines coord_type.
- a heuristic_type, used to determine wether one path is better than the other. Again, see the specific KB item discussing the visitors.h header.
- a cost_type, used to calculate the cost for going from one coordinate to another.
- a blocking_type, a function for determining wether a coordinate is completely in-penetratable.
- a director_type, that should be used to find adjecent coordinates. Directors are discussed in detail in the directors.h header KB item.