cz.cuni.amis.pogamut.ut2004.agent.navigation
Class UT2004AStarPathFuture

java.lang.Object
  cz.cuni.amis.utils.future.FutureWithListeners<RESULT>
      cz.cuni.amis.pogamut.base.utils.future.ComponentFuture<List<PATH_ELEMENT>>
          cz.cuni.amis.pogamut.base.agent.navigation.impl.PathFuture<ILocated>
              cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathFuture

All Implemented Interfaces:

IPathFuture<ILocated>, cz.cuni.amis.utils.future.IFutureWithListeners<List<ILocated>>, Future<List<ILocated>>

public class UT2004AStarPathFuture
extends PathFuture<ILocated>

IPathFuture implementation that is using UT2004 inner AStar algorithm for finding the path inside UT2004 environment.

WARNING: UT2004 has a limition set on the path length. It will return only the first 16 navpoints that are leading to the path's target. Whenever path executor happens to tell you, that the target is reached, you should compare your bot current location with PathFuture.getPathTo().

Note that the path that is produced by this future contains mix of NavPoint and Location objects. Usually Location objects are only the first and last elements of the path and the rest are NavPoints.

Author:

Jimmy

Field Summary

Fields inherited from class cz.cuni.amis.utils.future.FutureWithListeners

latch, listeners, mutex

Constructor Summary

UT2004AStarPathFuture(UT2004Bot bot, ILocated pathFrom, ILocated pathTo)

Method Summary

protected boolean	cancelComputation(boolean mayInterruptIfRunning)
protected void	eventEndMessage(EndMessage event)
protected void	eventPath(Path event)

Methods inherited from class cz.cuni.amis.pogamut.base.agent.navigation.impl.PathFuture

getPathFrom, getPathTo

Methods inherited from class cz.cuni.amis.pogamut.base.utils.future.ComponentFuture

createLatch

Methods inherited from class cz.cuni.amis.utils.future.FutureWithListeners

addFutureListener, cancel, computationException, getException, getStatus, isCancelled, isDone, isListening, removeFutureListener, setResult, switchStatus

Methods inherited from class java.lang.Object

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

Methods inherited from interface cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture

addFutureListener, getStatus, isListening, removeFutureListener

Methods inherited from interface java.util.concurrent.Future

cancel, isCancelled, isDone

Constructor Detail

UT2004AStarPathFuture

public UT2004AStarPathFuture(UT2004Bot bot,
                             ILocated pathFrom,
                             ILocated pathTo)

Method Detail

cancelComputation

protected boolean cancelComputation(boolean mayInterruptIfRunning)

Overrides:

cancelComputation in class cz.cuni.amis.utils.future.FutureWithListeners<List<ILocated>>

eventEndMessage

protected void eventEndMessage(EndMessage event)

eventPath

protected void eventPath(Path event)