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addChild - this method adds a child to the
children vector
SPOKE above and that the robot is at an intersection
it will rotate to SPOKE and it thread safe from main, so no new calls to isIntersection() will be fired here.
SPOKES above and that the robot is at an intersection
it will rotate to SPOKES[index] by counting black lines it crosses.
SPOKE above and that the
robot is at an intersection it will rotate to
SPOKE and it thread safe from main, so no new
calls to isIntersection() will be fired
here.
depth - search depth; 0 at the root
search node; a child node has its parent node depth + 1.
expand - method is used in the
BreadthFirstSearcher to find the optimal path for the robot, it
returns the children of the current road point
expand - return a (possibly empty) Vector of this
node's children.
getGoalNode - Returns a goal node if the previous
search was successful, and null otherwise.
getIndex - returns the index of the road point
(this index is specified by the programmer in the Map class)
getNodeCount - Returns the number of nodes
examined (goal-checked) in the previous search.
SPOKES that keeps track of which spoke is next
CENTER_ONLY.
isConnected - this method will return whether the
current node is a parent of another node that is specified in
the parameters of the method
isGoal - returns a boolean value of whether this
point is the goal or not
isGoal - test whether or not the current node is a
goal node.
L_ROTATION
then scan farther to the right R_ROTATION.
Map - The constructor initializes roadPts (a
vector of all the points on the map) as well as ptsExplored (a
vector that holds all the points that have been explored - this
is used by the BreadthFirstSearcher).
parent - parent search node; null if and
only if node is the root of the search tree.
RoadPoints instance.
search - method searches from the start node using
a Breadth First Searcher and returns whether or not a path was
found to the goal node
search - Search for a goal node starting at the
given "root" SearchNode, and return whether or not a goal node
was found.
SearchNode instance and sets it to an
initial search state.
setGoal - method sets a RoadPoint to start
setGoal - will change the isGoal boolean from
false to true, making it the goal for the robot
setStart - this method sets the start of the path
for the robot
toString - returns a string representation of the
road point.
traverse - method that actually creates the path
the robot will take on the map.
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