lejos.robotics.pathfinding
Class AstarSearchAlgorithm

java.lang.Object
  lejos.robotics.pathfinding.AstarSearchAlgorithm

All Implemented Interfaces:

SearchAlgorithm

public class AstarSearchAlgorithm
extends Object
implements SearchAlgorithm

This is an implementation of the A* search algorithm. Typically this object would be instantiated and then used in a NodePathFinder constructor, along with a set of connected nodes.

Author:

BB

See Also:

NodePathFinder

Constructor Summary

AstarSearchAlgorithm()

Method Summary

Path	findPath(Node start, Node goal) Method accepts a start node and a goal node, and returns a path consisting of a collection of waypoints which includes the startNode coordinates as the first waypoint, and the goal node coordinates as the final waypoint.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

AstarSearchAlgorithm

public AstarSearchAlgorithm()

Method Detail

findPath

public Path findPath(Node start,
                     Node goal)

Description copied from interface: SearchAlgorithm

Method accepts a start node and a goal node, and returns a path consisting of a collection of waypoints which includes the startNode coordinates as the first waypoint, and the goal node coordinates as the final waypoint. Note: The startNode must be connected with other nodes (neighbors) that eventually connect to the goalNode.

Specified by:

findPath in interface SearchAlgorithm

Returns:

A collection of waypoints. Returns null if it fails to find a path.

toString

public String toString()

Overrides:

toString in class Object