package cz.cuni.amis.pogamut.udk.agent.navigation;
   
   import cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture;
   import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
   import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
   import cz.cuni.amis.pogamut.udk.bot.impl.UDKBot;
   
   /**
    * Finds the shortest through internal A* algorithm in the UDK. The path info is send through GB2004 messages.
   * <p><p>
   * Returns {@link UDKAStarPathFuture} that contains the logic for obtaining the path from UDK (note that it takes
   * some time then UDK sends you a path).
   * <p><p>
   * <b>IMPORTANT:</b> 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 {@link IPathExecutor} reports that
   * the bot has reached its target, you should compare bot's current position and the {@link UDKAStarPathFuture#getPathTo()}.
   * 
   * @author Ik
   * @author Jimmy
   */
  public class UDKAStarPathPlanner implements IPathPlanner<ILocated> {
  
  	private UDKBot bot;
  
  	public UDKAStarPathPlanner(UDKBot bot) {
  		this.bot = bot;
  	}
  	
  	@Override
  	public IPathFuture<ILocated> computePath(ILocated from, ILocated to) {
  		return new UDKAStarPathFuture(bot, from, to);
  	}
  
  	@Override
  	public double getDistance(ILocated from, ILocated to) {
  		throw new RuntimeException("Unsupported operation!");
  	}
  	
  
  }