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java.lang.Object lejos.robotics.pathfinding.Node
public class Node
This class represents a Node which can be connected to other neighboring nodes. Node sets can be searched using search algorithms. Typically the search algorithm only requires one starting node and one goal node. It assumes these nodes are linked by intermediate nodes.
SearchAlgorithm
Field Summary | |
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float |
x
The x coordinate of this node. |
float |
y
The y coordinate of this node. |
Constructor Summary | |
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Node(float x,
float y)
Creates a new instance of a node. |
Method Summary | |
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boolean |
addNeighbor(Node neighbor)
Adds a neighboring node to this node, connecting them together. |
protected float |
calculateG(Node neighbor)
Calculates the distance to a neighbor node. |
protected float |
calculateH(Node goal)
Calculates the distance to the goal node. |
protected float |
getF_Score()
Method used by A* to calculate search score. |
protected float |
getG_Score()
Method used by A* to calculate search score. |
Collection<Node> |
getNeighbors()
Returns all the neighbors which this node is connected to. |
protected Node |
getPredecessor()
Used by A* search. |
int |
neighbors()
Indicates the number of neighbors (nodes connected to this node). |
boolean |
removeNeighbor(Node neighbor)
Removes a node from this node as neighbors, effectively disconnecting them. |
protected void |
setG_Score(float g)
Method used by A* to calculate search score. |
protected void |
setH_Score(float h)
Method used by A* to calculate search score. |
protected void |
setPredecessor(Node orig)
Used by A* search. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public float x
public float y
Constructor Detail |
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public Node(float x, float y)
x
- The x coordinate of this node.y
- The y coordinate of this node.Method Detail |
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public Collection<Node> getNeighbors()
public int neighbors()
public boolean addNeighbor(Node neighbor)
neighbor
- The neighboring node to connect with.
public boolean removeNeighbor(Node neighbor)
neighbor
- The neighboring node to disconnect from.
protected void setH_Score(float h)
h
- protected float calculateG(Node neighbor)
neighbor
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protected float calculateH(Node goal)
goal
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protected void setG_Score(float g)
g
- protected float getG_Score()
protected float getF_Score()
protected Node getPredecessor()
protected void setPredecessor(Node orig)
orig
-
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