walker.blue.path.lib

Class ThetaStar

java.lang.Object

walker.blue.path.lib.AbstractPathfinder<GridNode,java.util.List<java.util.List<GridNode>>>

walker.blue.path.lib.GridAStar

walker.blue.path.lib.ThetaStar

All Implemented Interfaces:

Pathfinder<GridNode,java.util.List<java.util.List<GridNode>>>

public class ThetaStar
extends GridAStar

Constructor Summary

Constructors

Constructor and Description
ThetaStar() Class constructor.

Method Summary

Methods

Modifier and Type	Method and Description
protected void	computeBestPath(java.util.List<java.util.List<GridNode>> searchArea, GridNode node, GridNode neighbor) Determines whether to set a neighbor's parent to the node or to the node's parent.
protected int	distanceBetweenNodes(GridNode a, GridNode b) Returns the approximate distance between two nodes in the search area.
java.util.List<GridNode>	findPath(java.util.List<java.util.List<GridNode>> searchArea, GridNode start, GridNode dest) Returns a List representing the path between two nodes in a two-dimensional search space.
java.util.List<java.util.List<java.lang.String>>	getVisibilityGraph(java.util.List<java.util.List<GridNode>> searchArea, GridNode node)
static void	main(java.lang.String[] args)
void	printAllLOSNodeCombinations(java.util.List<java.util.List<GridNode>> searchArea)

Methods inherited from class walker.blue.path.lib.GridAStar

computeBestPath, getManhattanDistance, printPath, printSearchArea, reconstructPath

Methods inherited from class java.lang.Object

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

Constructor Detail

ThetaStar

public ThetaStar()

Class constructor.

Method Detail

findPath

public java.util.List<GridNode> findPath(java.util.List<java.util.List<GridNode>> searchArea,
                                GridNode start,
                                GridNode dest)

Returns a List representing the path between two nodes in a two-dimensional search space.

Specified by:

findPath in interface Pathfinder<GridNode,java.util.List<java.util.List<GridNode>>>

Overrides:

findPath in class GridAStar

Parameters:

start - the start node for the path search and must inherit from Node

dest - the destination node for the path search and must inherit from Node

Returns:

the List of nodes in the path starting from the start node and ending with the dest node

See Also:

List, HashSet, PriorityQueue, GridAStar.reconstructPath(GridNode, GridNode), GridAStar.computeBestPath(GridNode, GridNode)

computeBestPath

protected void computeBestPath(java.util.List<java.util.List<GridNode>> searchArea,
                   GridNode node,
                   GridNode neighbor)

Determines whether to set a neighbor's parent to the node or to the node's parent.

Parameters:

node - the current node being visited in the path search

neighbor - a neighbor of node

See Also:

List, lineOfSight(java.util.List, GridNode, GridNode), distanceBetweenNodes(GridNode, GridNode)

distanceBetweenNodes

protected int distanceBetweenNodes(GridNode a,
                       GridNode b)

Returns the approximate distance between two nodes in the search area.

Overrides:

distanceBetweenNodes in class GridAStar

Parameters:

a - first node

b - second node

Returns:

an int representing the approximate distance between the two nodes

See Also:

Math

printAllLOSNodeCombinations

public void printAllLOSNodeCombinations(java.util.List<java.util.List<GridNode>> searchArea)

getVisibilityGraph

public java.util.List<java.util.List<java.lang.String>> getVisibilityGraph(java.util.List<java.util.List<GridNode>> searchArea,
                                                                  GridNode node)

main

public static void main(java.lang.String[] args)