cz.cuni.amis.pogamut.udk.agent.navigation
Class UDKAStarPathPlanner

java.lang.Object
  cz.cuni.amis.pogamut.udk.agent.navigation.UDKAStarPathPlanner

All Implemented Interfaces:

IPathPlanner<ILocated>

public class UDKAStarPathPlanner
extends Object
implements IPathPlanner<ILocated>

Finds the shortest through internal A* algorithm in the UDK. The path info is send through GB2004 messages.

Returns UDKAStarPathFuture that contains the logic for obtaining the path from UDK (note that it takes some time then UDK sends you a path).

IMPORTANT: Due to restrictions of the UnrealScript path planner this implementation returns only paths of maximal length 16. Therefore returned path may end on the half way trough. Therefore, whenever the IPathExecutor reports that the bot has reached its target, you should compare bot's current position and the PathFuture.getPathTo().

Author:

Ik, Jimmy

Constructor Summary

UDKAStarPathPlanner(UDKBot bot)

Method Summary

IPathFuture<ILocated>

computePath(ILocated from, ILocated to)

Methods inherited from class java.lang.Object

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

Constructor Detail

UDKAStarPathPlanner

public UDKAStarPathPlanner(UDKBot bot)

Method Detail

computePath

public IPathFuture<ILocated> computePath(ILocated from,
                                         ILocated to)

Specified by:

computePath in interface IPathPlanner<ILocated>