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java.lang.Object lejos.robotics.pathfinding.NodePathFinder
public class NodePathFinder
This path finder class uses one of the common search algorithms (e.g. A*) and a navigation mesh (e.g. grid) and uses them to find a path around map geometry.
Constructor Summary | |
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NodePathFinder(SearchAlgorithm alg,
NavigationMesh mesh)
Instantiates a NodePathFinder object using a specified algorithm. |
Method Summary | |
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void |
addListener(WaypointListener wpl)
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Path |
findRoute(Pose start,
Waypoint goal)
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void |
setNavMesh(NavigationMesh mesh)
Method for changing the navigation mesh after this has been instantiated. |
void |
setSearchAlgorithm(SearchAlgorithm alg)
Method for changing the search algorithm after this has been instantiated. |
void |
startPathFinding(Pose start,
Waypoint end)
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Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public NodePathFinder(SearchAlgorithm alg, NavigationMesh mesh)
alg
- The search algorithm.mesh
- The navigation mesh is a set of nodes in various configurations (e.g. grid).Method Detail |
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public void setNavMesh(NavigationMesh mesh)
mesh
- public void setSearchAlgorithm(SearchAlgorithm alg)
alg
- public void addListener(WaypointListener wpl)
addListener
in interface PathFinder
public Path findRoute(Pose start, Waypoint goal) throws DestinationUnreachableException
findRoute
in interface PathFinder
DestinationUnreachableException
public void startPathFinding(Pose start, Waypoint end)
startPathFinding
in interface PathFinder
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