execution.world

Class VisibilityGraphPathPlanner

java.lang.Object

execution.world.VisibilityGraphPathPlanner

public class VisibilityGraphPathPlanner
extends Object

Develops a visibility graph connecting a starting location to a goal position and uses an A* search algorithm to find the best path (waypoint series) to the goal MOVES Institute Naval Postgraduate School, Monterey, CA www.nps.edu

Since:

Apr 26, 2009, 2:41:50 PM

Version:

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

Author:

Duane Davis

Constructor Summary

Constructors

Constructor and Description
VisibilityGraphPathPlanner(WorldModel world) Constructor

Method Summary

Modifier and Type	Method and Description
Path	getBestPath()
boolean	hasGoodPath()
static void	main(String[] args) Main method provided for testing
void	reset(double[] newStart, double[] newGoal) Resets the path planner with new start and goal points
void	reset(double newStartX, double newStartY, double newGoalX, double newGoalY) Resets the path planner with new start and goal points
void	reset(Point newStart, Point newGoal) Resets the path planner with new start and goal points
Path	runPlanner() Runs the planner to generate the first plan

Methods inherited from class java.lang.Object

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

Constructor Detail

VisibilityGraphPathPlanner

public VisibilityGraphPathPlanner(WorldModel world)

Constructor

Parameters:

world - reference to the world model containing obstacles and avoid areas

Method Detail

reset

public void reset(Point newStart,
                  Point newGoal)

Resets the path planner with new start and goal points

Parameters:

newStart -

newGoal -

reset

public void reset(double[] newStart,
                  double[] newGoal)

Resets the path planner with new start and goal points

Parameters:

newStart -

newGoal -

reset

public void reset(double newStartX,
                  double newStartY,
                  double newGoalX,
                  double newGoalY)

Resets the path planner with new start and goal points

Parameters:

newStartX -

newGoalX -

hasGoodPath

public boolean hasGoodPath()

Returns:

true if the planner contains a good "best path" from start to goal

getBestPath

public Path getBestPath()

Returns:

the best path from start to goal (null if no path available)

runPlanner

public Path runPlanner()

Runs the planner to generate the first plan

Returns:

generated path as a series of waypoints (or null if no path found)

main

public static void main(String[] args)

Main method provided for testing