package cz.cuni.amis.pogamut.ut2004.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.ut2004.bot.impl.UT2004Bot;
   import cz.cuni.amis.utils.exception.PogamutException;
   
   /**
   * Finds the shortest through internal A* algorithm in the UT2004. The path info is send through GB2004 messages.
   * <p><p>
   * Returns {@link UT2004AStarPathFuture} that contains the logic for obtaining the path from UT2004 (note that it takes
   * some time then UT2004 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 UT2004AStarPathFuture#getPathTo()}.
   * 
   * @author Ik
   * @author Jimmy
   */
  public class UT2004AStarPathPlanner implements IPathPlanner<ILocated> {
  
  	private UT2004Bot bot;
  
  	public UT2004AStarPathPlanner(UT2004Bot bot) {
  		this.bot = bot;
  	}
  	
  	@Override
  	public IPathFuture<ILocated> computePath(ILocated from, ILocated to) {
  		return new UT2004AStarPathFuture(bot, from, to);
  	}
  	
  	public double getDistance(ILocated from, ILocated to) {
  		throw new PogamutException("Could not compute path-distances on the fly!", this);
  	}
  
  }