Examples of general.datastructures.Waypoint

general.datastructures.Waypoint
Waypoint class, which stores a Location and the predecessor Waypoint @since 0.4.0 @version 0.4.0 @author Tim

  }
  
  @Test
  public void testWaypoint()
  {
    Waypoint wp1, wp2, wp3, wp4, wp5;
    wp1 = new Waypoint(new Vector2f(3, 4), 0);
    assertNotNull(wp1);
    assertNull(wp1.getPredecessor());
    assertEquals(new Vector2f(3,4),wp1.getVector2f());
    assertEquals(0.0,wp1.getDistance(),1e-4);
    
    wp2 = new Waypoint(new Vector2f(3,8), 4, wp1);
    assertNotNull(wp2);
    assertEquals(wp1,wp2.getPredecessor());
    
    wp3 = new Waypoint(new Vector2f(1,8), 2, wp2);
    
    assertEquals(6, wp3.getDistance(),1e-4);
    
    Vector<Vector2f> points = new Vector<Vector2f>();
    Vector<Vector2f> actual_points = new Vector<Vector2f>();
    points = wp3.getRouteList(points);
    assertNotSame(actual_points,points);
    
    actual_points.add(wp3.getVector2f());
    actual_points.add(wp2.getVector2f());
    actual_points.add(wp1.getVector2f());
    
    assertEquals(actual_points, points);
    
    wp4 = new Waypoint(new Vector2f(3,4), 1, wp2);
    wp5 = new Waypoint(new Vector2f(2,4), 0);
    
    assertTrue(wp1.equals(wp1));
    assertTrue(wp1.equals(wp4));
    assertFalse(wp1.equals(wp2));
    assertFalse(wp1.equals(wp5));    
    
    
  }

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  }
  
  @Test
  public void testPriorityNode()
  {
    Waypoint wp1,wp2,wp3,wp4;
    wp1 = new Waypoint(new Vector2f(1, 1), 1);
    wp2 = new Waypoint(new Vector2f(2, 2), 2);
    wp3 = new Waypoint(new Vector2f(3, 3), 3);
    wp4 = new Waypoint(new Vector2f(4, 4), 4);
    
    PriorityNode n1, n2, n3, n4;
    n1 = new PriorityNode(2, wp1);
      
    assertNotNull(n1);

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  @Test
  public void testPriorityQueueInsert() throws EmptyListException
  {
    PriorityQueue pq = new PriorityQueue();
    Waypoint wp1, wp2, wp3, wp4, wp5;
    wp1 = new Waypoint(new Vector2f(1,1), 1);
    wp2 = new Waypoint(new Vector2f(2,2), 2);
    wp3 = new Waypoint(new Vector2f(3,3), 3);
    wp4 = new Waypoint(new Vector2f(4,4), 4);
    wp5 = new Waypoint(new Vector2f(5,5), 5);
    
    pq.insert(wp2, 2);
    assertFalse(pq.isEmpty());
    pq.insert(wp4, 4);
    assertFalse(pq.isEmpty());

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  @Test
  public void testPriorityQueueDublicates() throws EmptyListException
  {
    PriorityQueue pq = new PriorityQueue();
    Waypoint wp1, wp2, wp3;
    wp1 = new Waypoint(new Vector2f(1,1), 1);
    wp2 = new Waypoint(new Vector2f(2,2), 2);
    wp3 = new Waypoint(new Vector2f(3,3), 3);
    
    pq.insert(wp1, 10);
    pq.insert(wp1, 9);
    pq.insert(wp2, 8);
    pq.insert(wp2, 7);

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    boolean routeFound = false;


    PriorityQueue openlist = new PriorityQueue();
    Vector<Waypoint> closedlist = new Vector<Waypoint>();


    Waypoint wp_to = new Waypoint(mc_to,0);
    Waypoint currentWP;


    Vector<Waypoint> newWaypoints;


    //System.err.println("Fuege Punkt to zu openlist hinzu: " + to.toString());
    openlist.insert(wp_to, 0);


    do{
      //System.err.println(openlist.toString());


      currentWP = openlist.getFirst();
      //System.err.println("Hole Node von der openlist: " + currentWP.toString());




      //if (currentWP.getVector2f().equals(from))
      if (currentWP.getVector2f().isInRange(mc_from, 0.707f))
      {
        System.out.println("Weg gefunden!!");
        routeFound = true;
        break;
      }


      closedlist.add(currentWP);


      // Expand Node
      Vector2f currentpoint = currentWP.getVector2f();


      newWaypoints = new Vector<Waypoint>(8);


      //8er Nachbarschaft hinzufuegen
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()-1 , currentpoint.y()-1 ),   Math.sqrt(2)  ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()-1 , currentpoint.y() ),     1      ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()-1 , currentpoint.y()+1 ),   Math.sqrt(2)  ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x() , currentpoint.y()-1 ),     1      ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x() , currentpoint.y()+1 ),     1      ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()+1 , currentpoint.y()-1 ),   Math.sqrt(2)  ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()+1 , currentpoint.y() ),     1      ,currentWP));
      newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()+1 , currentpoint.y()+1 ),   Math.sqrt(2)  ,currentWP));


      //System.err.println("Alle punkte zum vektor hinzugefuegt");


      for(Waypoint wp : newWaypoints)
      {
        if ( (closedlist.contains(wp)) || (!map.isInMap(wp.getVector2f())) || (!map.isPassable(vehicletype, wp.getVector2f())) )
        {
          continue;
        }


        double estimatedDistance = wp.getDistance()+wp.getVector2f().getDistanceTo(mc_from);


        openlist.insert(wp, estimatedDistance);
      }


    }
    while (!openlist.isEmpty());


    if (routeFound)
    {    
      Vector<Vector2f> mc_wps = new Vector<Vector2f>();
      Vector<Vector2f> wc_waypoints = new Vector<Vector2f>();
      currentWP.getRouteList(mc_wps);
      for(Vector2f wp:mc_wps)
      {
        wc_waypoints.add(general.helperclasses.Math.mapToWorld(wp, map.getTilesize()));
      }
      wc_waypoints.remove(0);

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Related Classes of general.datastructures.Waypoint

debug.tests.Test_Datastructures

server.world.RouteCalculator

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