planner.avclPlan.search

Class SearchPlanStep

java.lang.Object

planner.aStarPlan.PlanStep

planner.avclPlan.search.SearchPlanStep

All Implemented Interfaces:

Cloneable

Direct Known Subclasses:

BestFirstSearchPlanStep, BreadthFirstSearchPlanStep

public class SearchPlanStep
extends PlanStep

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: 1.5 $

Author:

dtdavis

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

Field Summary

Fields

Modifier and Type	Field and Description
protected double	cost The cost of executing this step (distance traveled plus track spacing
protected double[]	endPt The vehicle position after this step
protected double[]	startPt The vehicle position upon commencing this step
protected double	trackSpacing The track spacing of the search of which this step is part

Fields inherited from class planner.aStarPlan.PlanStep

name

Constructor Summary

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
Object	clone() Returns a deep copy of the plan step, implements Cloneable
double	cost() Computes the cost of executing this distance as distance traveled plus track spacing
double[]	getEnd() Returns the ending point of the transit represented by this plan step
double[]	getStart() Returns the starting point of the transit represented by this plan step
void	setCost(double newCost) Sets the cost of the step
void	setEnd(double[] newEnd) Sets the ending point of the transit represented by this plan step
void	setStart(double[] newStart) Sets the starting point of the transit represented by this plan step
String	toString() Converts the plan step to a String

Methods inherited from class java.lang.Object

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

Field Detail

startPt

protected double[] startPt

The vehicle position upon commencing this step

endPt

protected double[] endPt

The vehicle position after this step

trackSpacing

protected double trackSpacing

The track spacing of the search of which this step is part

cost

protected double cost

The cost of executing this step (distance traveled plus track spacing

Constructor Detail

SearchPlanStep

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

Creates a new instance of SearchPlanStep

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

getStart

public double[] getStart()

Returns the starting point of the transit represented by this plan step

Returns:

double[] 1 x 2 array with the (x, y) position prior to this step

getEnd

public double[] getEnd()

Returns the ending point of the transit represented by this plan step

Returns:

double[] 1 x 2 array with the (x, y) position after executing this step

setStart

public void setStart(double[] newStart)

Sets the starting point of the transit represented by this plan step

Parameters:

newStart - 1 x 2 array with the (x, y) position prior to this step

setEnd

public void setEnd(double[] newEnd)

Sets the ending point of the transit represented by this plan step

Parameters:

newEnd - 1 x 2 array with the (x, y) position following this step

setCost

public void setCost(double newCost)

Sets the cost of the step

Parameters:

newCost -

cost

public double cost()

Computes the cost of executing this distance as distance traveled plus track spacing

Specified by:

cost in class PlanStep

Returns:

the "cost" of executing this individual step

clone

public Object clone()

Returns a deep copy of the plan step, implements Cloneable

Specified by:

clone in class PlanStep

Returns:

the deep copy of the plan step, implements Cloneable

toString

public String toString()

Converts the plan step to a String

Overrides:

toString in class PlanStep

Returns:

String value or description of what the plan step entails.