cz.cuni.amis.pogamut.ut2004.agent.navigation.astar
Class UT2004AStar

java.lang.Object
  cz.cuni.amis.pathfinding.alg.astar.AStar<NavPoint>
      cz.cuni.amis.pogamut.ut2004.agent.navigation.astar.UT2004AStar

All Implemented Interfaces:

IPathPlanner<NavPoint>

public class UT2004AStar
extends cz.cuni.amis.pathfinding.alg.astar.AStar<NavPoint>
implements IPathPlanner<NavPoint>

Constructor Summary

UT2004AStar(UT2004Bot bot)
AStar configured with UT2004PFMap with no agent-specific view on the map, IPFMapView.DefaultView is used.

UT2004AStar(UT2004Bot bot, cz.cuni.amis.pathfinding.map.IPFMapView<NavPoint> view)
AStar configured with UT2004PFMap with no agent-specific view on the map, IPFMapView.DefaultView is used.

UT2004AStar(UT2004PFMap map)
AStar configured with "map" with no agent-specific view on the map, IPFMapView.DefaultView is used.

UT2004AStar(UT2004PFMap map, cz.cuni.amis.pathfinding.map.IPFMapView<NavPoint> view)
AStar configured with "map" and agent-specific view on the map, if "view" is null, IPFMapView.DefaultView is going to be used.

Method Summary

IPathFuture<NavPoint>	computePath(NavPoint from, NavPoint to) Using findPath(NavPoint, NavPoint) to implement IPathPlanner.computePath(Object, Object) interface.
cz.cuni.amis.pathfinding.alg.astar.AStarResult<NavPoint>	findPath(NavPoint from, NavPoint to) Uses UT2004PFGoal to define START-NODE (from) and TARGET-NODE (to) for the A-Star, using standard 3D-Euclidian heuristic.
cz.cuni.amis.pathfinding.alg.astar.AStarResult<NavPoint>	findPath(NavPoint from, NavPoint to, cz.cuni.amis.pathfinding.map.IPFMapView<NavPoint> mapView) Uses UT2004PFGoal to define START-NODE (from) and TARGET-NODE (to) for the A-Star, using standard 3D-Euclidian heuristic and customized 'mapView'.
double	getDistance(NavPoint from, NavPoint to)
UT2004PFMap	getMap()
void	mapChanged() Call to wipe cached info about the map, e.g., whenever UT2004PathAutoFixer bans some navpoint or you use NavigationGraphBuilder, etc.

Methods inherited from class cz.cuni.amis.pathfinding.alg.astar.AStar

findPath, findPath, findPath, getMapView, setMap, setMapView

Methods inherited from class java.lang.Object

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

Constructor Detail

UT2004AStar

public UT2004AStar(UT2004Bot bot)

AStar configured with UT2004PFMap with no agent-specific view on the map, IPFMapView.DefaultView is used.

Parameters:

map -

UT2004AStar

public UT2004AStar(UT2004Bot bot,
                   cz.cuni.amis.pathfinding.map.IPFMapView<NavPoint> view)

AStar configured with UT2004PFMap with no agent-specific view on the map, IPFMapView.DefaultView is used.

Parameters:

map -

UT2004AStar

public UT2004AStar(UT2004PFMap map)

AStar configured with "map" with no agent-specific view on the map, IPFMapView.DefaultView is used.

Parameters:

map -

UT2004AStar

public UT2004AStar(UT2004PFMap map,
                   cz.cuni.amis.pathfinding.map.IPFMapView<NavPoint> view)

AStar configured with "map" and agent-specific view on the map, if "view" is null, IPFMapView.DefaultView is going to be used.

Parameters:

map -

view - may be null

Method Detail

getMap

public UT2004PFMap getMap()

Overrides:

getMap in class cz.cuni.amis.pathfinding.alg.astar.AStar<NavPoint>

findPath

public cz.cuni.amis.pathfinding.alg.astar.AStarResult<NavPoint> findPath(NavPoint from,
                                                                         NavPoint to,
                                                                         cz.cuni.amis.pathfinding.map.IPFMapView<NavPoint> mapView)

Uses UT2004PFGoal to define START-NODE (from) and TARGET-NODE (to) for the A-Star, using standard 3D-Euclidian heuristic and customized 'mapView'.

Parameters:

from -

to -

Returns:

computePath

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

Using findPath(NavPoint, NavPoint) to implement IPathPlanner.computePath(Object, Object) interface.

Specified by:

computePath in interface IPathPlanner<NavPoint>

getDistance

public double getDistance(NavPoint from,
                          NavPoint to)

Specified by:

getDistance in interface IPathPlanner<NavPoint>

findPath

public cz.cuni.amis.pathfinding.alg.astar.AStarResult<NavPoint> findPath(NavPoint from,
                                                                         NavPoint to)

Uses UT2004PFGoal to define START-NODE (from) and TARGET-NODE (to) for the A-Star, using standard 3D-Euclidian heuristic.

Parameters:

from -

to -

Returns:

mapChanged

public void mapChanged()

Call to wipe cached info about the map, e.g., whenever UT2004PathAutoFixer bans some navpoint or you use NavigationGraphBuilder, etc.