/******************************************************************************
 * File: Trailblazer.h
 *
 * Exports functions that use Dijkstra's algorithm, A* search, and Kruskal's
 * algorithm as specified in the assignment handout.
 */

#ifndef Trailblazer_Included
#define Trailblazer_Included

#include "TrailblazerTypes.h"
#include "set.h"
#include "grid.h"

/* Function: shortestPath
 *
 * Finds the shortest path between the locations given by start and end in the
 * specified world.  The cost of moving from one edge to the next is specified
 * by the given cost function.  The resulting path is then returned as a
 * Vector<Loc> containing the locations to visit in the order in which they
 * would be visited.    If no path is found, this function should report an
 * error.
 *
 * In Part Two of this assignment, you will need to add an additional parameter
 * to this function that represents the heuristic to use while performing the
 * search.  Make sure to update both this function prototype and the
 * implementation inside of Trailblazer.cpp.
 */
Vector<Loc>
shortestPath(Loc start,
             Loc end,
             Grid<double>& world,
             double costFn(Loc from, Loc to, Grid<double>& world),double heuristic(Loc start, Loc end, Grid<double>& world));

/* Function: createMaze
 *
 * Creates a maze of the specified dimensions using a randomized version of
 * Kruskal's algorithm, then returns a set of all of the edges in the maze.
 *
 * As specified in the assignment handout, the edges you should return here
 * represent the connections between locations in the graph that are passable.
 * Our provided starter code will then use these edges to build up a Grid
 * representation of the maze.
 */
Set<Edge> createMaze(int numRows, int numCols);
 struct Info{
        string color;
        Loc parent;
        double way;
    };
    void makeList ( Map<Loc,Info> &allInf, Grid<double> & world);
    Set<Loc> makeNeighbours(Loc & loc, Grid<double> & world);
    Vector <Loc> findWay(Loc & start,Loc& end,Map<Loc,Info>& allInformation);
    void makeChange(Loc loca,Loc loc,Map<Loc,Info> &allInformation,Grid <double> &world,double ownDistance,TrailblazerPQueue<Loc> &discuss,
                double heuristic(Loc start, Loc end, Grid<double>& world),double costFn(Loc from, Loc to, Grid<double>& world);

#endif