lejos.robotics.proposal
Class MapPathFinder

java.lang.Object
  java.util.AbstractCollection<E>
      java.util.AbstractList<E>
          java.util.ArrayList<WayPoint>
              lejos.robotics.proposal.MapPathFinder

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, java.lang.Iterable<WayPoint>, java.util.Collection<WayPoint>, java.util.List<WayPoint>, java.util.RandomAccess, PathFinder

public class MapPathFinder
extends java.util.ArrayList<WayPoint>
implements PathFinder

PathFinder that takes a map and a dummy set of range readings. It finds a path that is in short moves, has no obstacles in the way and where valid range readings can be taken from each waypoint. The algorithm is not deterministic so each time it is called a new route will be found.

Author:

Lawrie Griffiths

See Also:

Serialized Form

Field Summary

Fields inherited from class java.util.AbstractList

modCount

Constructor Summary

MapPathFinder(RangeMap map, RangeReadings readings)

Method Summary

java.util.Collection<WayPoint>	findRoute(Pose start, Point destination)
java.util.Collection<WayPoint>	findRoute(Pose start, Pose destination)

Methods inherited from class java.util.ArrayList

add, add, addAll, addAll, clear, clone, contains, ensureCapacity, get, indexOf, isEmpty, lastIndexOf, remove, remove, removeRange, set, size, toArray, toArray, trimToSize

Methods inherited from class java.util.AbstractList

equals, hashCode, iterator, listIterator, listIterator, subList

Methods inherited from class java.util.AbstractCollection

containsAll, removeAll, retainAll, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface java.util.List

containsAll, equals, hashCode, iterator, listIterator, listIterator, removeAll, retainAll, subList

Constructor Detail

MapPathFinder

public MapPathFinder(RangeMap map,
                     RangeReadings readings)

Method Detail

findRoute

public java.util.Collection<WayPoint> findRoute(Pose start,
                                                Point destination)
                                         throws DestinationUnreachableException

Specified by:

findRoute in interface PathFinder

Throws:

DestinationUnreachableException

findRoute

public java.util.Collection<WayPoint> findRoute(Pose start,
                                                Pose destination)
                                         throws DestinationUnreachableException

Specified by:

findRoute in interface PathFinder

Throws:

DestinationUnreachableException