Add get_parent() method to a_star class for parent node retrieval

riccardodebenedictis · riccardodebenedictis · commit 53a0a9a2cb97 · 2025-11-30T11:50:36.000+01:00
diff --git a/include/a_star.hpp b/include/a_star.hpp
@@ -179,6 +179,13 @@ namespace utils
       return true;
     }
 
+    [[nodiscard]] const node<Tp> *get_parent(const node<Tp> &n) const noexcept
+    {
+      if (auto it = came_from.find(&n); it != came_from.end())
+        return it->second;
+      return nullptr;
+    }
+
     [[nodiscard]] std::vector<std::shared_ptr<node<Tp>>> get_path() const noexcept
     {
       std::vector<std::shared_ptr<node<Tp>>> path;

Original file line number	Diff line number	Diff line change
`@@ -179,6 +179,13 @@ namespace utils`
`179`	`179`	`return true;`
`180`	`180`	`}`
`181`	`181`
	`182`	`+ [[nodiscard]] const node<Tp> *get_parent(const node<Tp> &n) const noexcept`
	`183`	`+ {`
	`184`	`+ if (auto it = came_from.find(&n); it != came_from.end())`
	`185`	`+ return it->second;`
	`186`	`+ return nullptr;`
	`187`	`+ }`
	`188`	`+`
`182`	`189`	`[[nodiscard]] std::vector<std::shared_ptr<node<Tp>>> get_path() const noexcept`
`183`	`190`	`{`
`184`	`191`	`std::vector<std::shared_ptr<node<Tp>>> path;`