Package 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.

Field Summary

Fields

Modifier and Type	Field and Description
private float	clearance
private java.util.ArrayList<WaypointListener>	listeners
private RangeMap	map
private float	maxDistance
private int	maxIterations
private float	maxRange
private float	minGain
private RangeReadings	readings
private static long	serialVersionUID

Constructor Summary

Constructors

Constructor and Description
RandomPathFinder(RangeMap map, RangeReadings readings)

Method Summary

Modifier and Type	Method and Description
void	addListener(WaypointListener wpl)
Path	findRoute(Pose start, Waypoint destination)
private Pose	generatePose() Generate a random pose within the mapped area, not too close to the edge
void	setClearance(float clearance) Set the clearance around the edge of the map.
void	setMaxDistance(float distance) Set the maximum distance between waypoints
void	setMaxIterations(int iterations) Set the maximum number of iterations before giving up when searching for a path
void	setMaxRange(float range) Set the maximum valid range readings
void	startPathFinding(Pose start, Waypoint end)

Methods inherited from class java.lang.Object

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

Field Detail

serialVersionUID

private static final long serialVersionUID

See Also:

Constant Field Values

minGain

private float minGain

clearance

private float clearance

map

private RangeMap map

readings

private RangeReadings readings

maxRange

private float maxRange

maxDistance

private float maxDistance

maxIterations

private int maxIterations

listeners

private java.util.ArrayList<WaypointListener> listeners

Constructor Detail

RandomPathFinder

public RandomPathFinder(RangeMap map,
                        RangeReadings readings)

Method Detail

setMaxRange

public void setMaxRange(float range)

Set the maximum valid range readings

Parameters:

range - the maximum range

setMaxDistance

public void setMaxDistance(float distance)

Set the maximum distance between waypoints

Parameters:

distance - the maximum distance

setMaxIterations

public void setMaxIterations(int iterations)

Set the maximum number of iterations before giving up when searching for a path

Parameters:

iterations - the maximum number of iterations

setClearance

public void setClearance(float clearance)

Set the clearance around the edge of the map. This does not really work as clearance shiould be around all walls and obstacles.

Parameters:

clearance - the clearance

findRoute

public Path findRoute(Pose start,
                      Waypoint destination)
               throws DestinationUnreachableException

Specified by:

findRoute in interface PathFinder

Throws:

DestinationUnreachableException

generatePose

private Pose generatePose()

Generate a random pose within the mapped area, not too close to the edge

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