1 package cz.cuni.amis.pogamut.udk.agent.navigation;
2
3 import cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture;
4 import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
5 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
6 import cz.cuni.amis.pogamut.udk.bot.impl.UDKBot;
7
8 /**
9 * Finds the shortest through internal A* algorithm in the UDK. The path info is send through GB2004 messages.
10 * <p><p>
11 * Returns {@link UDKAStarPathFuture} that contains the logic for obtaining the path from UDK (note that it takes
12 * some time then UDK sends you a path).
13 * <p><p>
14 * <b>IMPORTANT:</b> Due to restrictions of the UnrealScript path planner this implementation returns only paths of maximal length 16.
15 * Therefore returned path may end on the half way trough. Therefore, whenever the {@link IPathExecutor} reports that
16 * the bot has reached its target, you should compare bot's current position and the {@link UDKAStarPathFuture#getPathTo()}.
17 *
18 * @author Ik
19 * @author Jimmy
20 */
21 public class UDKAStarPathPlanner implements IPathPlanner<ILocated> {
22
23 private UDKBot bot;
24
25 public UDKAStarPathPlanner(UDKBot bot) {
26 this.bot = bot;
27 }
28
29 @Override
30 public IPathFuture<ILocated> computePath(ILocated from, ILocated to) {
31 return new UDKAStarPathFuture(bot, from, to);
32 }
33
34 }