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

Class PathFinder

java.lang.Object

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

Direct Known Subclasses:

AStarPathFinder, DijkstraPathFinder, JumpPointSearchPathFinder

public abstract class PathFinder
extends java.lang.Object

A path finder finds a feasible path between a specified starting Position and goal Position on a specified Map. A path is represented as a List of Positions, where each Position is a corner point in the path. If no feasible path can be found, a list containing only the goal position Position is returned.

Author:

S.A.M. Janssen

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean[][]	discretizedMap The discretized map.
protected Map	map The Map.
protected double	precision The width of a tile in the discrete version of the Map.

Constructor Summary

Constructors

Constructor and Description
PathFinder(Map map, double precision) Creates a path finder.

Method Summary

Modifier and Type	Method and Description
protected boolean	directPathPossible(Position start, Position goal) Determines if there is a direct path possible between two Positions.
protected java.util.List<Position>	getCornerPoints2(java.util.List<Position> path) Gets the corner points from a path, represented as a list of Positions.
java.util.List<Position>	getPath(Position start, Position goal) Gets a feasible path from a specified start Position to a goal Position.
abstract java.util.List<Position>	getPath(Position start, Position goal, boolean smooth) Gets a feasible path from a specified start Position to a goal Position.
java.util.List<Position>	smooth(java.util.List<Position> path) Gets the corner points from a path, represented as a list of Positions.

Methods inherited from class java.lang.Object

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

Field Detail

discretizedMap

protected boolean[][] discretizedMap

The discretized map.

map

protected Map map

The Map.

precision

protected double precision

The width of a tile in the discrete version of the Map.

Constructor Detail

PathFinder

public PathFinder(Map map,
                  double precision)

Creates a path finder.

Parameters:

map - The map.

precision - The precision.

Method Detail

directPathPossible

protected boolean directPathPossible(Position start,
                                     Position goal)

Determines if there is a direct path possible between two Positions. (i.e. there is no obstacle between the two points).

Parameters:

start - The start position.

goal - The goal position.

Returns:

True if there is a direct path possible, false otherwise.

getCornerPoints2

protected java.util.List<Position> getCornerPoints2(java.util.List<Position> path)

Gets the corner points from a path, represented as a list of Positions.

Parameters:

path - The path.

Returns:

The corner points.

getPath

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

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.

Parameters:

start - The start position.

goal - The goal position.

Returns:

The path.

getPath

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

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.

Parameters:

start - The start position.

goal - The goal position.

smooth - Smooth or not.

Returns:

The path.

smooth

public java.util.List<Position> smooth(java.util.List<Position> path)

Gets the corner points from a path, represented as a list of Positions.

Parameters:

path - The path.

Returns:

The corner points.