PathLink (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.world.PathLink

All Implemented Interfaces:

Cloneable, Comparable<PathLink>
```
public class PathLink
extends Object
implements Cloneable, Comparable<PathLink>
```
Represents one link in a path towards a goal. Contains the starting and ending point of the link and the "cost" to travel the link for use in planning MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Apr 26, 2009, 9:12:04 AM

Version:

$Id: PathLink.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

Duane Davis

Constructor Summary

Constructors
Constructor and Description
`PathLink(double[] start, double[] end)` Constructor
`PathLink(double startX, double startY, double endX, double endY)` Constructor
`PathLink(PathLink link)` Copy constructor
`PathLink(Point start, Point end)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`PathLink`	`clone()` Implements the Cloneable interface
`int`	`compareTo(PathLink link2)` Implements the Comparable interface Compares this link to another link using the "cost" value for comparison
`double`	`getCost()` Returns the cost to the vehicle of transiting this link
`Point`	`getEndPoint()`
`double`	`getEstimatedCost(double[] point)` Provides an estimated minimum cost from this link to another point
`double`	`getEstimatedCost(double x, double y)` Provides an estimated minimum cost from this link to another point
`double`	`getEstimatedCost(Point point)` Provides an estimated minimum cost from this link to another point
`Point`	`getStartPoint()`
`PathLink`	`nextLink(double[] nextEnd)` Generates a new link from the end point of this one to a specified point
`PathLink`	`nextLink(double nextX, double nextY)` Generates a new link from the end point of this one to a specified point
`PathLink`	`nextLink(Point nextEnd)` Generates a new link from the end point of this one to a specified point
`String`	`toString()` Generates a string representation of the LineSegment object

Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - PathLink
```
public PathLink(Point start,
                Point end)
```
    Constructor
    
    Parameters:
    
    start -
    
    end -
  - PathLink
```
public PathLink(double[] start,
                double[] end)
```
    Constructor
    
    Parameters:
    
    start -
    
    end -
  - PathLink
```
public PathLink(double startX,
                double startY,
                double endX,
                double endY)
```
    Constructor
    
    Parameters:
    
    startX -
    
    startY -
    
    endX -
    
    endY -
  - PathLink
```
public PathLink(PathLink link)
```
    Copy constructor
    
    Parameters:
    
    link -
- Method Detail
  - getCost
```
public double getCost()
```
    Returns the cost to the vehicle of transiting this link
    
    Returns:
    
    cost to the vehicle of transiting this link
  - clone
```
public PathLink clone()
```
    Implements the Cloneable interface
    
    Overrides:
    
    clone in class Object
    
    Returns:
    
    an item by item copy of the PathLink
  - nextLink
```
public PathLink nextLink(Point nextEnd)
```
    Generates a new link from the end point of this one to a specified point
    
    Parameters:
    
    nextEnd -
    
    Returns:
    
    a new link from the end of this one to a specified point
  - nextLink
```
public PathLink nextLink(double[] nextEnd)
```
    Generates a new link from the end point of this one to a specified point
    
    Parameters:
    
    nextEnd -
    
    Returns:
    
    a new link from the end of this one to a specified point
  - nextLink
```
public PathLink nextLink(double nextX,
                         double nextY)
```
    Generates a new link from the end point of this one to a specified point
    
    Parameters:
    
    nextX -
    
    nextY -
    
    Returns:
    
    a new link from the end of this one to a specified point
  - compareTo
```
public int compareTo(PathLink link2)
```
    Implements the Comparable interface Compares this link to another link using the "cost" value for comparison
    
    Specified by:
    
    compareTo in interface Comparable<PathLink>
    
    Returns:
    
    -1, 0, or 1 if this object is "less than", "equal to" or "greater than" the link to which it is being compared
  - getEstimatedCost
```
public double getEstimatedCost(Point point)
```
    Provides an estimated minimum cost from this link to another point
    
    Parameters:
    
    point -
  - getEstimatedCost
```
public double getEstimatedCost(double[] point)
```
    Provides an estimated minimum cost from this link to another point
    
    Parameters:
    
    point -
  - getEstimatedCost
```
public double getEstimatedCost(double x,
                               double y)
```
    Provides an estimated minimum cost from this link to another point
    
    Parameters:
    
    x -
    
    y -
  - getEndPoint
```
public Point getEndPoint()
```
    Returns:
    
    the end point of the link
  - getStartPoint
```
public Point getStartPoint()
```
    Returns:
    
    the start point of the link
  - toString
```
public String toString()
```
    Generates a string representation of the LineSegment object
    
    Overrides:
    
    toString in class Object

Class PathLink

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

PathLink

PathLink

PathLink

PathLink

Method Detail

getCost

clone

nextLink

nextLink

nextLink

compareTo

getEstimatedCost

getEstimatedCost

getEstimatedCost

getEndPoint

getStartPoint

toString