Package me.wobblyyyy.pathfinder.finders

Class SpeedFinder

java.lang.Object
me.wobblyyyy.pathfinder.finders.SpeedFinder
All Implemented Interfaces:
Generator
public class SpeedFinder
extends java.lang.Object
implements Generator
A relatively quick path generator - think of it as an extended version of the LightningFinder.

This finder checks for any zones within the given pathfinding area, and, if it doesn't find any, just generates a path. However, if it DOES find more than one solid zone in the given area, it'll double-check to ensure that the robot can't possibly collide with any of the objects on its path.

Since:
0.1.0
Author:
Colin Robertson

  • Field Summary

    Fields
    Modifier and Type Field Description
    private PathfinderConfig config
    The pathfinder's configuration.
    private double rR
    Robot radius.
    private double rX
    Robot X.
    private double rY
    Robot Y.

  • Constructor Summary

    Constructors
    Constructor Description
    SpeedFinder​(PathfinderConfig config)
    Create a new SpeedFinder.

  • Method Summary

    Modifier and Type Method Description
    me.wobblyyyy.edt.DynamicArray<Point> getCoordinatePath​(Point start, Point end)
    Get a newly-generated coordinate path between two points.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • rX

      private final double rX
      Robot X.

    • rY

      private final double rY
      Robot Y.

    • rR

      private final double rR
      Robot radius.

    • config

      private final PathfinderConfig config
      The pathfinder's configuration.

  • Constructor Details

    • SpeedFinder

      public SpeedFinder​(PathfinderConfig config)
      Create a new SpeedFinder.
      Parameters:
      config - the Pathfinder library's configuration.

  • Method Details

    • getCoordinatePath

      public me.wobblyyyy.edt.DynamicArray<Point> getCoordinatePath​(Point start, Point end)
      Get a newly-generated coordinate path between two points.

      This path is INCREDIBLY linear - it's quite literally just two points. If this method of pathfinding doesn't end up working, we can instead use the ThetaStar pathfinder, which, unless there's not a single path available, will generate a valid path.

      Specified by:
      getCoordinatePath in interface Generator
      Parameters:
      start - the start coordinate.
      end - the end coordinate.
      Returns:
      either no or two points for a path.