cz.cuni.amis.pogamut.ut2004.agent.navigation.astar
Class UT2004AStarGoal

java.lang.Object
  cz.cuni.amis.pogamut.ut2004.agent.navigation.astar.UT2004AStarGoal

All Implemented Interfaces:

cz.cuni.amis.utils.astar.AStarEvaluator<NavPoint>, cz.cuni.amis.utils.astar.AStarGoal<NavPoint>, cz.cuni.amis.utils.astar.AStarHeuristic<NavPoint>

Direct Known Subclasses:

UT2004AStarGoalNavPoint

public abstract class UT2004AStarGoal
extends Object
implements cz.cuni.amis.utils.astar.AStarGoal<NavPoint>

Field Summary

protected Collection<NavPoint>	closeList
protected Collection<NavPoint>	openList

Constructor Summary

UT2004AStarGoal()

Method Summary

Collection<NavPoint>	getCloseList()
abstract int	getEstimatedDistanceToGoal(NavPoint node) Method defining "heuristic" for A*, see AStarHeuristic.getEstimatedDistanceToGoal(Object).
int	getExtraCost(NavPoint nodeFrom, NavPoint nodeTo) Method defining extra-edge cost, see AStarEvaluator.getExtraCost(Object, Object).
Collection<NavPoint>	getOpenList()
abstract boolean	isGoalReached(NavPoint actualNode) This tests whether 'actualNode' matches your desired 'goalNode'.
boolean	isNodeOpened(NavPoint node) Method defining which nodes are allowed to be explored and which are forbidden, see AStarEvaluator.isNodeOpened(Object).
void	setCloseList(Collection<NavPoint> closeList)
void	setOpenList(Collection<NavPoint> openList)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

closeList

protected Collection<NavPoint> closeList

openList

protected Collection<NavPoint> openList

Constructor Detail

UT2004AStarGoal

public UT2004AStarGoal()

Method Detail

setCloseList

public void setCloseList(Collection<NavPoint> closeList)

Specified by:

setCloseList in interface cz.cuni.amis.utils.astar.AStarGoal<NavPoint>

setOpenList

public void setOpenList(Collection<NavPoint> openList)

Specified by:

setOpenList in interface cz.cuni.amis.utils.astar.AStarGoal<NavPoint>

getCloseList

public Collection<NavPoint> getCloseList()

getOpenList

public Collection<NavPoint> getOpenList()

getExtraCost

public int getExtraCost(NavPoint nodeFrom,
                        NavPoint nodeTo)

Method defining extra-edge cost, see AStarEvaluator.getExtraCost(Object, Object). You probably won't need to use that, thus it is not abstract.

Returns: always 0

Specified by:

getExtraCost in interface cz.cuni.amis.utils.astar.AStarEvaluator<NavPoint>

isNodeOpened

public boolean isNodeOpened(NavPoint node)

Method defining which nodes are allowed to be explored and which are forbidden, see AStarEvaluator.isNodeOpened(Object). You probably won't need to use that, thus it is not abstract.

Returns: always 0

Specified by:

isNodeOpened in interface cz.cuni.amis.utils.astar.AStarEvaluator<NavPoint>

getEstimatedDistanceToGoal

public abstract int getEstimatedDistanceToGoal(NavPoint node)

Method defining "heuristic" for A*, see AStarHeuristic.getEstimatedDistanceToGoal(Object). You will usually want to return Euclidian distance between 'node' and your goal using NavPoint.getLocation() and Location.getDistance(Location). See also UT2004AStarGoalNavPoint.

Specified by:

getEstimatedDistanceToGoal in interface cz.cuni.amis.utils.astar.AStarHeuristic<NavPoint>

Parameters:

node -

isGoalReached

public abstract boolean isGoalReached(NavPoint actualNode)

This tests whether 'actualNode' matches your desired 'goalNode'. You will usually use "==" to do that as every NavPoint is "sort-of" singleton for single agent (note that every agent has different one, so you might want to equals their ids via NavPoint.getId()).

Specified by:

isGoalReached in interface cz.cuni.amis.utils.astar.AStarGoal<NavPoint>

Parameters:

actualNode -