GlobalNavigation
Class VisibilityGraph

java.lang.Object
  GlobalNavigation.VisibilityGraph

public class VisibilityGraph
extends java.lang.Object

This class is being implemented last minute because the current grid path-finding cannot find a path through the maze

Nested Class Summary

class

VisibilityGraph.QueueElement

Constructor Summary

VisibilityGraph(java.awt.geom.Point2D.Double start, java.awt.geom.Point2D.Double goal, java.awt.geom.Rectangle2D.Double cworldRect, CSpace cspace)

Method Summary

java.util.List<java.awt.geom.Point2D.Double>	computeShortestPath(java.awt.geom.Point2D.Double start, java.awt.geom.Point2D.Double goal)
java.util.Map<java.awt.geom.Point2D.Double,java.util.List<java.awt.geom.Point2D.Double>>	getGraph()

Methods inherited from class java.lang.Object

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

Constructor Detail

VisibilityGraph

public VisibilityGraph(java.awt.geom.Point2D.Double start,
                       java.awt.geom.Point2D.Double goal,
                       java.awt.geom.Rectangle2D.Double cworldRect,
                       CSpace cspace)

Method Detail

computeShortestPath

public java.util.List<java.awt.geom.Point2D.Double> computeShortestPath(java.awt.geom.Point2D.Double start,
                                                                        java.awt.geom.Point2D.Double goal)

getGraph

public java.util.Map<java.awt.geom.Point2D.Double,java.util.List<java.awt.geom.Point2D.Double>> getGraph()