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.pathfinding.map.IPFKnownMap;
8 import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
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.maps.LazyMap;
12
13 public class UT2004PFMap implements IPFKnownMap<NavPoint> {
14
15 private LazyMap<NavPoint, List<NavPoint>> neighbours = new LazyMap<NavPoint, List<NavPoint>>() {
16
17 @Override
18 protected List<NavPoint> create(NavPoint key) {
19 List<NavPoint> list = new ArrayList<NavPoint>(key.getOutgoingEdges().size());
20 for (NavPointNeighbourLink link : key.getOutgoingEdges().values()) {
21 list.add(link.getToNavPoint());
22 }
23 return list;
24 }
25
26 };
27
28 private IWorldView worldView;
29
30 public UT2004PFMap(IWorldView worldView) {
31 this.worldView = worldView;
32 }
33
34 @Override
35 public int getNodeCost(NavPoint node) {
36 return 0;
37 }
38
39 @Override
40 public Collection<NavPoint> getNeighbors(NavPoint node) {
41 return neighbours.get(node);
42 }
43
44 @Override
45 public int getArcCost(NavPoint nodeFrom, NavPoint nodeTo) {
46 NavPointNeighbourLink link = nodeFrom.getOutgoingEdges().get(nodeTo.getId());
47 if (link == null) return Integer.MAX_VALUE;
48 return (int)Math.round(nodeTo.getLocation().getDistance(nodeFrom.getLocation()));
49 }
50
51 @Override
52 public Collection<NavPoint> getNodes() {
53 return worldView.getAll(NavPoint.class).values();
54 }
55
56 public void mapChanged() {
57 neighbours.clear();
58 }
59
60 }