frc.team670.robot.utils.search

Class AStarSearch

java.lang.Object

frc.team670.robot.utils.search.AStarSearch

public class AStarSearch
extends java.lang.Object

Implementation of an A* search algorithm For details refer to https://www.geeksforgeeks.org/a-search-algorithm/

Constructor Summary

Constructors

Constructor and Description
AStarSearch()

Method Summary

Modifier and Type	Method and Description
static java.util.List<Edge>	search(Node start, Node destination) Runs the search function, returning a List ordered in the Edges to take from one start Node to destination

Methods inherited from class java.lang.Object

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

Constructor Detail

AStarSearch

public AStarSearch()

Method Detail

search

public static java.util.List<Edge> search(Node start,
                                          Node destination)

Runs the search function, returning a List ordered in the Edges to take from one start Node to destination

Parameters:

start - The node that the user wishes to start from

destination - The target node that the user wishes to reach

Returns:

A path of nodes that the search algorithm has found.

Throws:

java.lang.IllegalArgumentException - throws if the Node you are starting from has no open paths from it Returns empty if destination and start are same node