lejos.robotics.pathfinding
Class RandomPathFinder
java.lang.Object
lejos.robotics.pathfinding.RandomPathFinder
- All Implemented Interfaces:
- PathFinder
public class RandomPathFinder
- extends java.lang.Object
- implements PathFinder
PathFinder that takes a map and a dummy set of range readings.
It finds a path that is in short moves, has no obstacles in the
way and where valid range readings can be taken from each waypoint.
The algorithm is not deterministic so each time it is called a new route
will be found.
- Author:
- Lawrie Griffiths
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
RandomPathFinder
public RandomPathFinder(RangeMap map,
RangeReadings readings)
findRoute
public java.util.Collection<WayPoint> findRoute(Pose start,
WayPoint destination)
throws DestinationUnreachableException
- Specified by:
findRoute
in interface PathFinder
- Throws:
DestinationUnreachableException
addListener
public void addListener(WayPointListener wpl)
- Specified by:
addListener
in interface PathFinder
startPathFinding
public void startPathFinding(Pose start,
WayPoint end)
- Specified by:
startPathFinding
in interface PathFinder