package cz.cuni.amis.pogamut.ut2004.agent.navigation.astar;
   
   import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
   import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
   
   public class UT2004AStarGoalNavPoint extends UT2004AStarGoal {
   
   	private NavPoint goalNavPoint;
   
  	public UT2004AStarGoalNavPoint(NavPoint goalNavPoint) {
  		this.goalNavPoint = goalNavPoint;
  	}
  	
  	public NavPoint getGoalNavPoint() {
  		return goalNavPoint;
  	}
  
  	/**
  	 * Using Euclidian distance via {@link Location#getDistance(Location)}. 
  	 */
  	@Override
  	public int getEstimatedDistanceToGoal(NavPoint node) {
  		return (int) goalNavPoint.getLocation().getDistance(node.getLocation());
  	}
  
  	@Override
  	public boolean isGoalReached(NavPoint actualNode) {
  		return actualNode.getId().equals(goalNavPoint.getId());
  	}
  
  }