lejos.robotics.pathfinding

Class DijkstraPathFinder.Node

java.lang.Object

lejos.robotics.pathfinding.DijkstraPathFinder.Node

Enclosing class:

DijkstraPathFinder

protected class DijkstraPathFinder.Node
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
java.util.ArrayList<DijkstraPathFinder.Node>	_blocked
protected Point	_p
protected DijkstraPathFinder.Node	_predecessor
protected float	_sourceDistance

Constructor Summary

Constructors

Constructor and Description
Node(float x, float y)
Node(Point p)

Method Summary

Modifier and Type	Method and Description
boolean	atEndOfLine(Line theLine) test if this Node is one of the ends of theLine
void	block(DijkstraPathFinder.Node aNode) add aNode to list of nodes not a neighbour of this Node
float	getDistance(DijkstraPathFinder.Node aNode) return the straight distance from this node to aNode
float	getDistance(Point aPoint) get the straight line distance from this node to aPoint
Point	getLocation() return the location of this node
DijkstraPathFinder.Node	getPredecessor() get the predecessor of this node in the shortest path from the start
float	getSourceDistance() return the shortest path length to this node from the start node
float	getX() get the X coordinate of this node
float	getY() get the Y coordinate of thes Node
void	setPredecessor(DijkstraPathFinder.Node thePredecessor) set the predecessor of this node in the shortest path from the start node
void	setSourceDistance(float theDistance) set the distance of this Node from the source
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

_p

protected Point _p

_sourceDistance

protected float _sourceDistance

_predecessor

protected DijkstraPathFinder.Node _predecessor

_blocked

public java.util.ArrayList<DijkstraPathFinder.Node> _blocked

Constructor Detail

Node

public Node(Point p)

Node

public Node(float x,
            float y)

Method Detail

atEndOfLine

public boolean atEndOfLine(Line theLine)

test if this Node is one of the ends of theLine

Parameters:

theLine - endpoints to check

Returns:

true if this node is an end of the line

setSourceDistance

public void setSourceDistance(float theDistance)

set the distance of this Node from the source

Parameters:

theDistance -

getSourceDistance

public float getSourceDistance()

return the shortest path length to this node from the start node

Returns:

shortest distance

getDistance

public float getDistance(Point aPoint)

get the straight line distance from this node to aPoint

Parameters:

aPoint -

Returns:

the distance

getDistance

public float getDistance(DijkstraPathFinder.Node aNode)

return the straight distance from this node to aNode

Parameters:

aNode -

Returns:

the distance

getLocation

public Point getLocation()

return the location of this node

Returns:

the location

block

public void block(DijkstraPathFinder.Node aNode)

add aNode to list of nodes not a neighbour of this Node

Parameters:

aNode -

setPredecessor

public void setPredecessor(DijkstraPathFinder.Node thePredecessor)

set the predecessor of this node in the shortest path from the start node

Parameters:

thePredecessor -

getPredecessor

public DijkstraPathFinder.Node getPredecessor()

get the predecessor of this node in the shortest path from the start

Returns:

the predecessor node

getX

public float getX()

get the X coordinate of this node

Returns:

X coordinate

getY

public float getY()

get the Y coordinate of thes Node

Returns:

Y coordinate

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object