cz.cuni.amis.pogamut.ut2004.agent.navigation
Class UT2004AStarPathPlanner

java.lang.Object
  cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner

All Implemented Interfaces:

IPathPlanner<ILocated>

public class UT2004AStarPathPlanner
extends java.lang.Object
implements IPathPlanner<ILocated>

Finds the shortest through internal A* algorithm in the UT2004. The path info is send through GB2004 messages.

Returns UT2004AStarPathFuture that contains the logic for obtaining the path from UT2004 (note that it takes some time then UT2004 sends you a path).

IMPORTANT: Due to restrictions of the UnrealScript path planner this implementation returns only paths of maximal length 16. Therefore returned path may end on the half way trough. Therefore, whenever the IPathExecutor reports that the bot has reached its target, you should compare bot's current position and the PathFuture.getPathTo().

Constructor Summary

UT2004AStarPathPlanner(UT2004Bot bot)

Method Summary

IPathFuture<ILocated>

computePath(ILocated from, ILocated to) Returns a future where the path planner will set the result of its computation.

Methods inherited from class java.lang.Object

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

Constructor Detail

UT2004AStarPathPlanner

public UT2004AStarPathPlanner(UT2004Bot bot)

Method Detail

computePath

public IPathFuture<ILocated> computePath(ILocated from,
                                         ILocated to)

Description copied from interface: IPathPlanner

Returns a future where the path planner will set the result of its computation.

Note that the IPathFuture might already contain the path (i.e., the returned path was computed inside this method or it was a precomputed result). Always examine status of the future before attaching listeners to it.

Specified by:

computePath in interface IPathPlanner<ILocated>

Returns: