lejos.robotics.pathfinding
Interface SearchAlgorithm

All Known Implementing Classes:

AstarSearchAlgorithm

public interface SearchAlgorithm

An interface for defining generic node search algorithms. NOTE: Implementations of this interface should override Object.toString() with the name of the algorithm. e.g. "A*", "Dijkstra", "Best-First", "D* Lite"

Author:

BB

See Also:

Object.toString()

Method Summary

Path	findPath(Node startNode, Node goalNode) 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.

Method Detail

findPath

Path findPath(Node startNode,
              Node goalNode)

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.

Parameters:

startNode -

goalNode -

Returns:

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