BiDirectionalWeightedAstar

Bi-directional weighted A* planning algorithm written in C++ using multi-threading features, faster than A* for certain goal locations in a map Implements weighted bidirectional Astar path planning algorithm, using two threads one from source and the other from the destination main function takes in 5 parameters

1. x coordinate of start point
2. y coordinate of start point
3. x coordinate of goal point
4. y coordinate of goal point
5. w, weighted for the weighted Astar

Compiled using c++11

$ g++ -std=c++11 -pthread  main.cpp -o x 
$ ./x 1 1 300 300 1.1 

Using cmake

$ mkdir build
$ cd build/
$ cmake ../
$ make
$ ./result