lejos.robotics.pathfinding
Class RandomPathFinder

java.lang.Object
  extended by 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

Constructor Summary
RandomPathFinder(RangeMap map, RangeReadings readings)
           
 
Method Summary
 void addListener(WayPointListener wpl)
           
 java.util.Collection<WayPoint> findRoute(Pose start, WayPoint destination)
           
 void startPathFinding(Pose start, WayPoint end)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

RandomPathFinder

public RandomPathFinder(RangeMap map,
                        RangeReadings readings)
Method Detail

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