Package eu.iv4xr.framework.extensions.pathfinding

Class AStar<NodeId>

java.lang.Object

eu.iv4xr.framework.extensions.pathfinding.AStar<NodeId>

All Implemented Interfaces:

Pathfinder<NodeId>

public class AStar<NodeId>
extends Object
implements Pathfinder<NodeId>

A* pathfinding algorithm

Author:

Naraenda

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AStar.SearchMode

Field Summary

Fields

Modifier and Type	Field	Description
Function<Navigatable<NodeId>,BiFunction<NodeId,NodeId,Float>>	dynamicHeuristicDistance	When this is set, this function will be use to calculate the heuristic distance between two nodes, rather than using the default heuristic-method supplied by underlying navigation graph.
AStar.SearchMode	searchMode

Constructor Summary

Constructors

Constructor	Description
AStar()

Method Summary

Modifier and Type	Method	Description
ArrayList<NodeId>	findPath(Navigatable<NodeId> graph, NodeId start, NodeId goal)	Finds a path in a navigatable environment.
(package private) float	getHeuristicDistance(Navigatable<NodeId> graph, NodeId a, NodeId b)

Methods inherited from class java.lang.Object

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

Field Details

searchMode

public AStar.SearchMode searchMode

dynamicHeuristicDistance

public Function<Navigatable<NodeId>,BiFunction<NodeId,NodeId,Float>> dynamicHeuristicDistance

When this is set, this function will be use to calculate the heuristic distance between two nodes, rather than using the default heuristic-method supplied by underlying navigation graph.

Constructor Details

AStar

public AStar()

Method Details

getHeuristicDistance

float getHeuristicDistance(Navigatable<NodeId> graph,
 NodeId a,
 NodeId b)

findPath

public ArrayList<NodeId> findPath(Navigatable<NodeId> graph,
 NodeId start,
 NodeId goal)

Description copied from interface: Pathfinder

Finds a path in a navigatable environment.

Specified by:

findPath in interface Pathfinder<NodeId>

Parameters:

graph - : The environment to find a path in.

start - : The starting position of the pathfinder.

goal - : The goal of the pathfinder.

Returns:

An arraylist with the path. Null if no path is found.