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+/*
+ * TDDD86 Trailblazer
+ * This file contains functions for computing the costs of navigating the
+ * terrain and maze worlds, as well as heuristics for predicting costs.
+ * See costs.cpp for implementation of each function.
+ *
+ * Please do not modify this provided file. Your turned-in files should work
+ * with an unmodified version of all provided code files.
+ *
+ * Author: Marty Stepp, Keith Schwarz, et al
+ * Slight modifications by Tommy Farnqvist
+ */
+
+#ifndef _costs_h
+#define _costs_h
+
+#include <cmath>
+#include <limits>
+#include "grid.h"
+#include "types.h"
+
+// represents 'infinity' for use in your various algorithms as needed
+const double POSITIVE_INFINITY =  1.0 / 0.0;
+const double NEGATIVE_INFINITY = -1.0 / 0.0;
+
+/* Constants representing the value of a wall and floor cell in a maze. */
+const double kMazeWall = 0.0;
+const double kMazeFloor = 1.0;
+
+const double kAltitudePenalty = 100;
+
+
+/*
+ * A function that given two adjacent locations in a terrain, returns the cost
+ * associated with moving from the first location to the second.
+ */
+double terrainCost(TBLoc from, TBLoc to, const Grid<double>& world);
+
+/*
+ * A function that, given two locations in a terrain, estimates the cost
+ * of moving from the first location all the way to the second.
+ */
+double terrainHeuristic(TBLoc from, TBLoc to, const Grid<double>& world);
+
+/*
+ * A function that, given two adjacent locations in a maze, returns the cost
+ * associated with moving from the first location to the second.
+ */
+double mazeCost(TBLoc from, TBLoc to, const Grid<double>& world);
+
+/*
+ * A function that, given two locations in a maze, estimates the cost of
+ * moving from the first location all the way to the second.
+ */
+double mazeHeuristic(TBLoc from, TBLoc to, const Grid<double>& world);
+
+/*
+ * A heuristic function that always returns 0.  This function is used so that
+ * the shortestPath function can be used to run Dijkstra's algorithm, which is
+ * the same as running A* search with a zero heuristic function.
+ */
+double zeroHeuristic(TBLoc from, TBLoc to, const Grid<double>& world);
+
+#endif