Beispiel #1
0
  /*
   * Initialise Method
   * @params start and goal coordinates
   */
  public void init(int sX, int sY, int gX, int gY) {
    cellHash.clear();
    path.clear();
    openHash.clear();
    while (!openList.isEmpty()) openList.poll();

    k_m = 0;

    s_start.x = sX;
    s_start.y = sY;
    s_goal.x = gX;
    s_goal.y = gY;

    CellInfo tmp = new CellInfo();
    tmp.g = 0;
    tmp.rhs = 0;
    tmp.cost = C1;

    cellHash.put(s_goal, tmp);

    tmp = new CellInfo();
    tmp.g = tmp.rhs = heuristic(s_start, s_goal);
    tmp.cost = C1;
    cellHash.put(s_start, tmp);
    s_start = calculateKey(s_start);

    s_last = s_start;
  }
Beispiel #2
0
 /*
  * Checks if a cell is in the hash table, if not it adds it in.
  */
 private void makeNewCell(State u) {
   if (cellHash.get(u) != null) return;
   CellInfo tmp = new CellInfo();
   tmp.g = tmp.rhs = heuristic(u, s_goal);
   tmp.cost = C1;
   cellHash.put(u, tmp);
 }
Beispiel #3
0
  /*
   * This is somewhat of a hack, to change the position of the goal we
   * first save all of the non-empty nodes on the map, clear the map, move the
   * goal and add re-add all of the non-empty cells. Since most of these cells
   * are not between the start and goal this does not seem to hurt performance
   * too much. Also, it frees up a good deal of memory we are probably not
   * going to use.
   */
  public void updateGoal(int x, int y) {
    List<Pair<ipoint2, Double>> toAdd = new ArrayList<Pair<ipoint2, Double>>();
    Pair<ipoint2, Double> tempPoint;

    for (Map.Entry<State, CellInfo> entry : cellHash.entrySet()) {
      if (!close(entry.getValue().cost, C1)) {
        tempPoint =
            new Pair(new ipoint2(entry.getKey().x, entry.getKey().y), entry.getValue().cost);
        toAdd.add(tempPoint);
      }
    }

    cellHash.clear();
    openHash.clear();

    while (!openList.isEmpty()) openList.poll();

    k_m = 0;

    s_goal.x = x;
    s_goal.y = y;

    CellInfo tmp = new CellInfo();
    tmp.g = tmp.rhs = 0;
    tmp.cost = C1;

    cellHash.put(s_goal, tmp);

    tmp = new CellInfo();
    tmp.g = tmp.rhs = heuristic(s_start, s_goal);
    tmp.cost = C1;
    cellHash.put(s_start, tmp);
    s_start = calculateKey(s_start);

    s_last = s_start;

    Iterator<Pair<ipoint2, Double>> iterator = toAdd.iterator();
    while (iterator.hasNext()) {
      tempPoint = iterator.next();
      updateCell(tempPoint.first().x, tempPoint.first().y, tempPoint.second());
    }
  }