planner.avclPlan.search

Class BestFirstSearchPlanStep

java.lang.Object

planner.aStarPlan.PlanStep

planner.avclPlan.search.SearchPlanStep

planner.avclPlan.search.BestFirstSearchPlanStep

All Implemented Interfaces:

Cloneable

public class BestFirstSearchPlanStep
extends SearchPlanStep

Represents a step in a search plan. The cost of the step is computed as the distance traveled plus the track spacing of the search (this biases the search towards those with fewer long legs as opposed to many short ones)

Version:

$Revision: 1.2 $

Author:

dtdavis

Contact: Don Brutzman (web.nps.navy.mil/~brutzman) brutzman@nps.navy.mil

Field Summary

Fields inherited from class planner.avclPlan.search.SearchPlanStep

cost, endPt, startPt, trackSpacing

Fields inherited from class planner.aStarPlan.PlanStep

name

Constructor Summary

Constructors

Constructor and Description
BestFirstSearchPlanStep(double startPsi, double[] start, double[] end, double trackSpacing) Creates a new instance of BestFirstSearchPlanStep

Method Summary

Modifier and Type	Method and Description
Object	clone() Returns a deep copy of the plan step, implements Cloneable

Methods inherited from class planner.avclPlan.search.SearchPlanStep

cost, getEnd, getStart, setCost, setEnd, setStart, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

BestFirstSearchPlanStep

public BestFirstSearchPlanStep(double startPsi,
                               double[] start,
                               double[] end,
                               double trackSpacing)

Creates a new instance of BestFirstSearchPlanStep

Parameters:

startPsi - heading of the vehicle upon starting this point

start - a double[2] containing the (x, y) position prior to this step

end - a double[2] containing the (x, y) position following this step

trackSpacing - the distance (meters) between tracks during the search

Method Detail

clone

public Object clone()

Returns a deep copy of the plan step, implements Cloneable

Overrides:

clone in class SearchPlanStep

Returns:

the deep copy of the plan step, implements Cloneable