lejos.robotics.pathfinding
Interface SearchAlgorithm

All Known Implementing Classes:
AstarSearchAlgorithm

public interface SearchAlgorithm

An interface for defining generic node search algorithms. NOTE: Implementations of this interface should override Object.toString() with the name of the algorithm. e.g. "A*", "Dijkstra", "Best-First", "D* Lite"

Author:
BB
See Also:
Object.toString()

Method Summary
 java.util.Collection<WayPoint> findPath(Node startNode, Node goalNode)
          Method accepts a start node and a goal node, and returns a path consisting of a collection of waypoints which includes the startNode coordinates as the first waypoint, and the goal node coordinates as the final waypoint.
 

Method Detail

findPath

java.util.Collection<WayPoint> findPath(Node startNode,
                                        Node goalNode)
Method accepts a start node and a goal node, and returns a path consisting of a collection of waypoints which includes the startNode coordinates as the first waypoint, and the goal node coordinates as the final waypoint. Note: The startNode must be connected with other nodes (neighbors) that eventually connect to the goalNode.

Parameters:
startNode -
goalNode -
Returns:
A collection of waypoints. Returns null if it fails to find a path.