Catalano.Graph.Pathfinding.AStar

Class AStar

java.lang.Object

Catalano.Graph.Pathfinding.AStar.AStar

All Implemented Interfaces:

ISearch

public class AStar
extends java.lang.Object
implements ISearch

AStar pathfinding.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	AStar.Heuristic
static class	AStar.Neighbor

Constructor Summary

Constructors

Constructor and Description
AStar(double[][] costMap) Initializes a new instance of the AStar class.
AStar(double[][] costMap, AStar.Neighbor neighbor, AStar.Heuristic heuristic) Initializes a new instance of the AStar class.
AStar(int width, int height) Initializes a new instance of the AStar class.
AStar(int width, int height, double initialCost) Initializes a new instance of the AStar class.
AStar(int width, int height, double initialCost, AStar.Neighbor neighbor, AStar.Heuristic heuristic) Initializes a new instance of the AStar class.

Method Summary

Modifier and Type	Method and Description
void	addBlock(int x, int y) Add block in the path.
java.util.ArrayList<IntPoint>	FindPath(int startX, int startY, int endX, int endY) Find path.
java.util.ArrayList<IntPoint>	FindPath(IntPoint start, IntPoint end) Find path.
double	getCost(int x, int y) Get cost from a point.
int	getHeight() Get height of the map.
AStar.Heuristic	getHeuristic() Get heuristic.
AStar.Neighbor	getNeighbor() Get neighbor size of the algorithm.
NodeMap	getNodeMap() Get node map.
double	getTotalCost(java.util.ArrayList<IntPoint> path) Get total cost.
int	getWidth() Get width of the map.
boolean	isBlocked(int x, int y) Verify if the actual node is blocked.
void	removeBlock(int x, int y) Remove block in the path.
void	setCost(int x, int y, double cost) Set cost.
void	setHeuristic(AStar.Heuristic heuristic) Set heuristic.
void	setNeighbor(AStar.Neighbor neighbor) Set neighbor size of the algorithm.

Methods inherited from class java.lang.Object

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

Constructor Detail

AStar

public AStar(int width,
             int height)

Initializes a new instance of the AStar class.

Parameters:

width - Width of the Matrix.

height - Height of the Matrix.

AStar

public AStar(int width,
             int height,
             double initialCost)

Initializes a new instance of the AStar class.

Parameters:

width - Width of the Matrix.

height - Height of the Matrix.

initialCost - Initial cost for all nodes.

AStar

public AStar(double[][] costMap)

Initializes a new instance of the AStar class.

Parameters:

costMap - Cost map.

AStar

public AStar(double[][] costMap,
             AStar.Neighbor neighbor,
             AStar.Heuristic heuristic)

Initializes a new instance of the AStar class.

Parameters:

costMap - Cost map.

neighbor - Neighbor.

heuristic - Heuristic.

AStar

public AStar(int width,
             int height,
             double initialCost,
             AStar.Neighbor neighbor,
             AStar.Heuristic heuristic)

Initializes a new instance of the AStar class.

Parameters:

width - Width of the matrix.

height - Height of the matrix.

initialCost - Initial cost for all the nodes.

neighbor - Neighbor.

heuristic - Heuristic.

Method Detail

getWidth

public int getWidth()

Get width of the map.

Returns:

Width.

getHeight

public int getHeight()

Get height of the map.

Returns:

Height.

getNeighbor

public AStar.Neighbor getNeighbor()

Get neighbor size of the algorithm.

Returns:

Neighbor.

setNeighbor

public void setNeighbor(AStar.Neighbor neighbor)

Set neighbor size of the algorithm.

Parameters:

neighbor - Neighbor.

getHeuristic

public AStar.Heuristic getHeuristic()

Get heuristic.

Returns:

Heuristic.

setHeuristic

public void setHeuristic(AStar.Heuristic heuristic)

Set heuristic.

Parameters:

heuristic - Heuristic.

addBlock

public void addBlock(int x,
                     int y)

Add block in the path. Is the same with the cust of the node equals zero.

Parameters:

x - X axis coordinate.

y - Y axis coordinate.

removeBlock

public void removeBlock(int x,
                        int y)

Remove block in the path. Is the same with the cust of the node equals one.

Parameters:

x - X axis coordinate.

y - Y axis coordinate.

isBlocked

public boolean isBlocked(int x,
                         int y)

Verify if the actual node is blocked.

Parameters:

x - X axis coordinate.

y - Y axis coordinate.

Returns:

True if is blocked, otherwise false.

getCost

public double getCost(int x,
                      int y)

Get cost from a point.

Parameters:

x - X axis coordinate.

y - Y axis coordinate.

Returns:

Cost.

setCost

public void setCost(int x,
                    int y,
                    double cost)

Set cost.

Parameters:

x - X axis coordinate.

y - Y axis coordinate.

cost - Cost.

getNodeMap

public NodeMap getNodeMap()

Get node map.

Returns:

Node map.

getTotalCost

public double getTotalCost(java.util.ArrayList<IntPoint> path)

Get total cost.

Parameters:

path - List of the points.

Returns:

Total cost.

FindPath

public java.util.ArrayList<IntPoint> FindPath(IntPoint start,
                                              IntPoint end)

Description copied from interface: ISearch

Find path.

Specified by:

FindPath in interface ISearch

Parameters:

start - Start point.

end - End point.

Returns:

List of points that contains the path.

FindPath

public java.util.ArrayList<IntPoint> FindPath(int startX,
                                              int startY,
                                              int endX,
                                              int endY)

Description copied from interface: ISearch

Find path.

Specified by:

FindPath in interface ISearch

Parameters:

startX - Start X axis coordinate.

startY - Start Y axis coordinate.

endX - End X axis coordinate.

endY - End Y axis coordinate.

Returns:

List of points that contains the path.