Package lejos.robotics.pathfinding

Class ShortestPathFinder.Node

java.lang.Object

lejos.robotics.pathfinding.ShortestPathFinder.Node

Enclosing class:

ShortestPathFinder

public class ShortestPathFinder.Node
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
java.util.ArrayList<ShortestPathFinder.Node>	_blocked
private Point	_p
private ShortestPathFinder.Node	_predecessor
private float	_sourceDistance

Constructor Summary

Constructors

Modifier	Constructor and Description
private	Node(float x, float y)
	Node(Point p)

Method Summary

Modifier and Type	Method and Description
private boolean	atEndOfLine(Line theLine) test if this Node is one of the ends of theLine
private void	block(ShortestPathFinder.Node aNode) add aNode to list of nodes that are not a neighbour of this Node
boolean	equals(ShortestPathFinder.Node n)
private float	getDistance(Point aPoint) Get the straight line distance from this node to aPoint
private Point	getLocation() return the location of this node
private ShortestPathFinder.Node	getPredecessor() get the predecessor of this node in the shortest path from the start
private float	getSourceDistance() Return the shortest path length to this node from the start node
private float	getX() get the X coordinate of this node
private float	getY() get the Y coordinate of the Node
boolean	isBlocked(ShortestPathFinder.Node aNode)
private void	setPredecessor(ShortestPathFinder.Node thePredecessor) set the predecessor of this node in the shortest path from the start node
private void	setSourceDistance(float theDistance) Set the distance of this Node from the source
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

_p

private Point _p

_sourceDistance

private float _sourceDistance

_predecessor

private ShortestPathFinder.Node _predecessor

_blocked

public java.util.ArrayList<ShortestPathFinder.Node> _blocked

Constructor Detail

Node

public Node(Point p)

Node

private Node(float x,
             float y)

Method Detail

atEndOfLine

private boolean atEndOfLine(Line theLine)

test if this Node is one of the ends of theLine

Parameters:

theLine - endpoints to check

Returns:

true if this node is an end of the line

setSourceDistance

private void setSourceDistance(float theDistance)

Set the distance of this Node from the source

Parameters:

theDistance -

getSourceDistance

private float getSourceDistance()

Return the shortest path length to this node from the start node

Returns:

shortest distance

getDistance

private float getDistance(Point aPoint)

Get the straight line distance from this node to aPoint

Parameters:

aPoint -

Returns:

the distance

getLocation

private Point getLocation()

return the location of this node

Returns:

the location

block

private void block(ShortestPathFinder.Node aNode)

add aNode to list of nodes that are not a neighbour of this Node

Parameters:

aNode -

setPredecessor

private void setPredecessor(ShortestPathFinder.Node thePredecessor)

set the predecessor of this node in the shortest path from the start node

Parameters:

thePredecessor -

getPredecessor

private ShortestPathFinder.Node getPredecessor()

get the predecessor of this node in the shortest path from the start

Returns:

the predecessor node

getX

private float getX()

get the X coordinate of this node

Returns:

X coordinate

getY

private float getY()

get the Y coordinate of the Node

Returns:

Y coordinate

equals

public boolean equals(ShortestPathFinder.Node n)

isBlocked

public boolean isBlocked(ShortestPathFinder.Node aNode)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object