New cpp folder structure

Signed-off-by: Alexander Borsuk <me@alex.bio>

libs/routing/base/astar_graph.hpp

@@ -0,0 +1,65 @@
+#pragma once
+
+#include "routing/base/astar_weight.hpp"
+#include "routing/base/astar_vertex_data.hpp"
+#include "routing/base/small_list.hpp"
+
+#include "base/buffer_vector.hpp"
+
+#include <map>
+#include <vector>
+
+#include "3party/skarupke/bytell_hash_map.hpp"
+
+namespace routing
+{
+template <typename VertexType, typename EdgeType, typename WeightType>
+class AStarGraph
+{
+public:
+  using Vertex = VertexType;
+  using Edge = EdgeType;
+  using Weight = WeightType;
+
+  using Parents = ska::bytell_hash_map<Vertex, Vertex>;
+
+  using EdgeListT = SmallList<Edge>;
+
+  virtual Weight HeuristicCostEstimate(Vertex const & from, Vertex const & to) = 0;
+
+  virtual void GetOutgoingEdgesList(astar::VertexData<Vertex, Weight> const & vertexData,
+                                    EdgeListT & edges) = 0;
+  virtual void GetIngoingEdgesList(astar::VertexData<Vertex, Weight> const & vertexData,
+                                   EdgeListT & edges) = 0;
+
+  virtual void SetAStarParents(bool forward, Parents & parents);
+  virtual void DropAStarParents();
+  virtual bool AreWavesConnectible(Parents & forwardParents, Vertex const & commonVertex,
+                                   Parents & backwardParents);
+
+  virtual Weight GetAStarWeightEpsilon();
+
+  virtual ~AStarGraph() = default;
+};
+
+template <typename VertexType, typename EdgeType, typename WeightType>
+void AStarGraph<VertexType, EdgeType, WeightType>::SetAStarParents(bool /* forward */,
+                                                                   Parents & /* parents */) {}
+
+template <typename VertexType, typename EdgeType, typename WeightType>
+void AStarGraph<VertexType, EdgeType, WeightType>::DropAStarParents() {}
+
+template <typename VertexType, typename EdgeType, typename WeightType>
+bool AStarGraph<VertexType, EdgeType, WeightType>::AreWavesConnectible(AStarGraph::Parents & /* forwardParents */,
+                                                                       Vertex const & /* commonVertex */,
+                                                                       AStarGraph::Parents & /* backwardParents */)
+{
+  return true;
+}
+
+template <typename VertexType, typename EdgeType, typename WeightType>
+WeightType AStarGraph<VertexType, EdgeType, WeightType>::GetAStarWeightEpsilon()
+{
+  return routing::GetAStarWeightEpsilon<WeightType>();
+}
+}  // namespace routing