nl.tudelft.goal.unreal.floydwarshall
Class SharedFloydWarshallMap

java.lang.Object
  cz.cuni.amis.pogamut.base.agent.module.AgentModule<AGENT>
      cz.cuni.amis.pogamut.base.agent.module.SensorModule<cz.cuni.amis.pogamut.base.agent.IGhostAgent>
          nl.tudelft.goal.unreal.floydwarshall.SharedFloydWarshallMap

All Implemented Interfaces:

cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner<NavPoint>, cz.cuni.amis.pogamut.base.component.IComponent

public class SharedFloydWarshallMap
extends cz.cuni.amis.pogamut.base.agent.module.SensorModule<cz.cuni.amis.pogamut.base.agent.IGhostAgent>
implements cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner<NavPoint>

Wrapper for a FloyWarschallMap shared by multiple agents.

Author:

M.P. Korstanje

Field Summary

protected int	badEdgeFlag Prohibited edges.
protected FloydWarshallMap	sharedMap Our map

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.SensorModule

worldView

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

agent, controller, eventBus, log

Constructor Summary

SharedFloydWarshallMap(cz.cuni.amis.pogamut.base.agent.IGhostAgent bot)

SharedFloydWarshallMap(cz.cuni.amis.pogamut.base.agent.IGhostAgent bot, int badEdgeFlag, Logger log)

SharedFloydWarshallMap(cz.cuni.amis.pogamut.base.agent.IGhostAgent bot, Logger log)

Method Summary

boolean	checkLink(NavPointNeighbourLink edge) Checks whether the edge is usable.
protected void	cleanUp() Hook where to perform clean up of data structures of the module.
cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture<NavPoint>	computePath(NavPoint from, NavPoint to) Returns path between navpoints 'from' -> 'to'.
float	getDistance(NavPoint from, NavPoint to) Calculate's distance between two nav points (using pathfinding).
List<NavPoint>	getPath(NavPoint from, NavPoint to) Returns path between navpoints 'from' -> 'to'.
boolean	reachable(NavPoint from, NavPoint to) Whether navpoint 'to' is reachable from the navpoint 'from'.
void	refreshPathMatrix()

Methods inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

getComponentId, getLog, getState, initComponentId, isRunning, kill, pause, reset, resume, start, stop, toString

Methods inherited from class java.lang.Object

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

Field Detail

badEdgeFlag

protected int badEdgeFlag

Prohibited edges.

sharedMap

protected FloydWarshallMap sharedMap

Our map

Constructor Detail

SharedFloydWarshallMap

public SharedFloydWarshallMap(cz.cuni.amis.pogamut.base.agent.IGhostAgent bot)

SharedFloydWarshallMap

public SharedFloydWarshallMap(cz.cuni.amis.pogamut.base.agent.IGhostAgent bot,
                              Logger log)

SharedFloydWarshallMap

public SharedFloydWarshallMap(cz.cuni.amis.pogamut.base.agent.IGhostAgent bot,
                              int badEdgeFlag,
                              Logger log)

Method Detail

computePath

public cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture<NavPoint> computePath(NavPoint from,
                                                                                    NavPoint to)

Returns path between navpoints 'from' -> 'to'. The path begins with 'from' and ends with 'to'. If such path does not exist, it returns zero-sized path.

Throws exception if object is disabled, see FloydWarshallMap#setEnabled(boolean). Note that the object is enabled by default.

Specified by:

computePath in interface cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner<NavPoint>

Parameters:

from -

to -

Returns:

reachable

public boolean reachable(NavPoint from,
                         NavPoint to)

Whether navpoint 'to' is reachable from the navpoint 'from'.

Throws exception if object is disabled, see FloydWarshallMap#setEnabled(boolean). Note that the object is enabled by default.

Parameters:

from -

to -

Returns:

getDistance

public float getDistance(NavPoint from,
                         NavPoint to)

Calculate's distance between two nav points (using pathfinding).

Throws exception if object is disabled, see FloydWarshallMap#setEnabled(boolean). Note that the object is enabled by default.

Returns:

Distance or POSITIVE_INFINITY if there's no path.

getPath

public List<NavPoint> getPath(NavPoint from,
                              NavPoint to)

Returns path between navpoints 'from' -> 'to'. The path begins with 'from' and ends with 'to'. If such path doesn't exist, returns null.

Throws exception if object is disabled, see FloydWarshallMap#setEnabled(boolean). Note that the object is enabled by default.

Parameters:

from -

to -

Returns:

checkLink

public boolean checkLink(NavPointNeighbourLink edge)

Checks whether the edge is usable.

Parameters:

from - Starting nav point.

edge - NeighNav object representing the edge.

Returns:

boolean

cleanUp

protected void cleanUp()

Hook where to perform clean up of data structures of the module.

Overrides:

cleanUp in class cz.cuni.amis.pogamut.base.agent.module.AgentModule<cz.cuni.amis.pogamut.base.agent.IGhostAgent>

refreshPathMatrix

public void refreshPathMatrix()