model.agent.humanAgent.aatom.tacticalLevel.navigation.pathfinder

Class DijkstraPathFinder

java.lang.Object

model.agent.humanAgent.aatom.tacticalLevel.navigation.pathfinder.PathFinder

model.agent.humanAgent.aatom.tacticalLevel.navigation.pathfinder.DijkstraPathFinder

public class DijkstraPathFinder
extends PathFinder

The Dijkstra Path Finder uses the Dijkstra algorithm to find a path from a start Position to a goal Position.

Author:

S.A.M. Janssen

Field Summary

Fields

Modifier and Type	Field and Description
private java.util.List<DijkstraNode>	unvisited A list of unvisited nodes.
private java.util.List<DijkstraNode>	visited A list of visited nodes.

Fields inherited from class model.agent.humanAgent.aatom.tacticalLevel.navigation.pathfinder.PathFinder

discretizedMap, map, precision

Constructor Summary

Constructors

Constructor and Description
DijkstraPathFinder(Map map, double precision) Creates the Dijkstra Path Finder.

Method Summary

Modifier and Type	Method and Description
private java.util.Collection<DijkstraNode>	getNeighbors(DijkstraNode node) Gets the neighbors of a node.
private DijkstraNode	getNodeFromPosition(Position position) Gets a Dijkstra node from a Position.
private DijkstraNode	getNodeWithLowestDistance() Gets the node with the lowest distance.
java.util.List<Position>	getPath(Position start, Position goal, boolean smooth) Gets a feasible path from a specified start Position to a goal Position.
private Position	getPositionFromNode(DijkstraNode node) Gets a Position from a Dijkstra Node.

Methods inherited from class model.agent.humanAgent.aatom.tacticalLevel.navigation.pathfinder.PathFinder

directPathPossible, getCornerPoints2, getPath, smooth

Methods inherited from class java.lang.Object

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

Field Detail

unvisited

private java.util.List<DijkstraNode> unvisited

A list of unvisited nodes.

visited

private java.util.List<DijkstraNode> visited

A list of visited nodes.

Constructor Detail

DijkstraPathFinder

public DijkstraPathFinder(Map map,
                          double precision)

Creates the Dijkstra Path Finder.

Parameters:

map - The map.

precision - The precision.

Method Detail

getNeighbors

private java.util.Collection<DijkstraNode> getNeighbors(DijkstraNode node)

Gets the neighbors of a node.

Parameters:

node - The node.

Returns:

A list of neighbors.

getNodeFromPosition

private DijkstraNode getNodeFromPosition(Position position)

Gets a Dijkstra node from a Position. Returns null if the node cannot be found.

Parameters:

position - The position.

Returns:

The node.

getNodeWithLowestDistance

private DijkstraNode getNodeWithLowestDistance()

Gets the node with the lowest distance.

Returns:

The node with the lowest distance.

getPath

public java.util.List<Position> getPath(Position start,
                                        Position goal,
                                        boolean smooth)

Description copied from class: PathFinder

Gets a feasible path from a specified start Position to a goal Position. The method returns a list of points that are the corner points of the specified path.

Specified by:

getPath in class PathFinder

Parameters:

start - The start position.

goal - The goal position.

smooth - Smooth or not.

Returns:

The path.

getPositionFromNode

private Position getPositionFromNode(DijkstraNode node)

Gets a Position from a Dijkstra Node.

Parameters:

node - The node.

Returns:

The position.