planner.avclPlan.search

Class BreadthFirstSearchPlanner

java.lang.Object

planner.aStarPlan.Planner

planner.avclPlan.search.AStarSearchPlanner

planner.avclPlan.search.BreadthFirstSearchPlanner

All Implemented Interfaces:

Runnable

public class BreadthFirstSearchPlanner
extends AStarSearchPlanner

Class that will use the Breadth First search algorithm to compute a series of waypoints that will search a geographic area with a prescribed probability of detection

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.AStarSearchPlanner

COS60, searchArea, SIN60, SIXTY_DEGREES, startPoint, THIRTY_DEGREES, trackSpacing

Fields inherited from class planner.aStarPlan.Planner

agenda, die, goal, plan, planReady

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	BreadthFirstSearchPlanner() Creates a new instance of BreadthFirstSearchPlanner
	BreadthFirstSearchPlanner(GeoArea searchArea, double S, double PD, double[] startPosit, boolean pointFocus) Creates a new instance of BreadthFirstSearchPlanner

Method Summary

Modifier and Type	Method and Description
void	reset(SearchWorldState start) Resets the planner to start over with a new start state
void	reset(SearchWorldState start, SearchWorldState goal) Resets the planner to start over with a new start state and a new goal

Methods inherited from class planner.avclPlan.search.AStarSearchPlanner

computeVisitPoints, getStartPoint, setRequiredPD, setSweepWidth, setTrackSpacing

Methods inherited from class planner.aStarPlan.Planner

addToAgenda, clearAgenda, getGoal, getPlan, getRunTime, goalAchievable, goalAchieved, isPlanReady, reset, reset, reset, run, setDie, setRunTime

Methods inherited from class java.lang.Object

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

Constructor Detail

BreadthFirstSearchPlanner

protected BreadthFirstSearchPlanner()

Creates a new instance of BreadthFirstSearchPlanner

BreadthFirstSearchPlanner

public BreadthFirstSearchPlanner(GeoArea searchArea,
                                 double S,
                                 double PD,
                                 double[] startPosit,
                                 boolean pointFocus)

Creates a new instance of BreadthFirstSearchPlanner

Parameters:

searchArea - geographic area that is to be searched

S - sensor sweep width as defined in NWP 3-22.5 (SAR TACAID)

PD - required single-search probability of detection of the search

startPosit - double[2] defining the vehicle's position at the beginning of the search

pointFocus - set to true if the search is to focus on the centroid of the area

Method Detail

reset

public void reset(SearchWorldState start)

Resets the planner to start over with a new start state

Overrides:

reset in class AStarSearchPlanner

Parameters:

start - world state when planning commences (must completely define world)

reset

public void reset(SearchWorldState start,
                  SearchWorldState goal)

Resets the planner to start over with a new start state and a new goal

Overrides:

reset in class AStarSearchPlanner

Parameters:

start - world state when planning commences (must completely define world)

goal - desired world state following plan execution (not necessarily complete world description)