1 package cz.cuni.amis.pogamut.ut2004.agent.navigation.astar;
2
3 import java.util.ArrayList;
4 import java.util.Collection;
5 import java.util.List;
6
7 import cz.cuni.amis.pogamut.base.agent.IObservingAgent;
8 import cz.cuni.amis.pogamut.base.agent.module.SensorModule;
9 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
10 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPointNeighbourLink;
11 import cz.cuni.amis.utils.astar.AStarMap;
12 import cz.cuni.amis.utils.maps.LazyMap;
13
14 public class UT2004AStarMap extends SensorModule<IObservingAgent> implements AStarMap<NavPoint> {
15
16 private LazyMap<NavPoint, List<NavPoint>> neighbours = new LazyMap<NavPoint, List<NavPoint>>() {
17
18 @Override
19 protected List<NavPoint> create(NavPoint key) {
20 List<NavPoint> list = new ArrayList<NavPoint>(key.getOutgoingEdges().size());
21 for (NavPointNeighbourLink link : key.getOutgoingEdges().values()) {
22 list.add(link.getToNavPoint());
23 }
24 return list;
25 }
26
27 };
28
29 public UT2004AStarMap(IObservingAgent agent) {
30 super(agent);
31 }
32
33 @Override
34 protected void cleanUp() {
35 super.cleanUp();
36 neighbours.clear();
37 }
38
39 @Override
40 public int getEdgeCost(NavPoint nodeFrom, NavPoint nodeTo) {
41 return (int) nodeTo.getLocation().getDistance(nodeFrom.getLocation());
42 }
43
44 @Override
45 public Collection<NavPoint> getNodeNeighbours(NavPoint node) {
46 return neighbours.get(node);
47 }
48
49 @Override
50 public int getNodeCost(NavPoint node) {
51 return 0;
52 }
53
54 }