lejos.robotics.proposal
Class MapPathFinder

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

All Implemented Interfaces:

Iterable<WayPoint>, Collection<WayPoint>, List<WayPoint>, RandomAccess, PathFinder

public class MapPathFinder
extends 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

Field Summary

Fields inherited from class java.util.ArrayList

modCount

Constructor Summary

MapPathFinder(RangeMap map, RangeReadings readings)

Method Summary

boolean	contains(Object o)
boolean	containsAll(Collection<?> c)
boolean	equals(Object o)
Collection<WayPoint>	findRoute(Pose start, Point destination)
Collection<WayPoint>	findRoute(Pose start, Pose destination)
boolean	isEmpty()
Iterator<E>	iterator()
ListIterator<E>	listIterator()
boolean	removeAll(Collection<?> c)
boolean	retainAll(Collection<?> c)
Object[]	toArray()
<T> T[]	toArray(T[] dest)

Methods inherited from class java.util.ArrayList

add, add, addAll, addAll, addAll, addAll, clear, ensureCapacity, get, indexOf, lastIndexOf, listIterator, remove, remove, removeRange, set, size, subList, trimToSize

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.util.Collection

containsAll, hashCode, isEmpty, removeAll, retainAll, toArray, toArray

Constructor Detail

MapPathFinder

public MapPathFinder(RangeMap map,
                     RangeReadings readings)

Method Detail

findRoute

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

Specified by:

findRoute in interface PathFinder

Throws:

DestinationUnreachableException

findRoute

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

Specified by:

findRoute in interface PathFinder

Throws:

DestinationUnreachableException

contains

public boolean contains(Object o)

Specified by:

contains in interface Collection<E>

equals

public boolean equals(Object o)

Specified by:

equals in interface Collection<E>

Overrides:

equals in class Object

iterator

public Iterator<E> iterator()

Specified by:

iterator in interface Iterable<E>

Specified by:

iterator in interface Collection<E>

listIterator

public ListIterator<E> listIterator()

Specified by:

listIterator in interface List<E>

containsAll

public boolean containsAll(Collection<?> c)

Specified by:

containsAll in interface Collection<E>

isEmpty

public boolean isEmpty()

Specified by:

isEmpty in interface Collection<E>

removeAll

public boolean removeAll(Collection<?> c)

Specified by:

removeAll in interface Collection<E>

retainAll

public boolean retainAll(Collection<?> c)

Specified by:

retainAll in interface Collection<E>

toArray

public Object[] toArray()

Specified by:

toArray in interface Collection<E>

toArray

public <T> T[] toArray(T[] dest)

Specified by:

toArray in interface Collection<E>