AstarSearchAlgorithm (leJOS EV3 API documentation)

java.lang.Object
- lejos.robotics.pathfinding.AstarSearchAlgorithm

All Implemented Interfaces:

SearchAlgorithm
```
public class AstarSearchAlgorithm
extends java.lang.Object
implements SearchAlgorithm
```
This is an implementation of the A* search algorithm. Typically this object would be instantiated and then used in a NodePathFinder constructor, along with a set of connected nodes.

Author:

BB

See Also:

NodePathFinder

Constructor Summary

Constructors
Constructor Description

AstarSearchAlgorithm()

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Path`	`findPath(Node start, Node goal)`	Method accepts a start node and a goal node, and returns a path consisting of a collection of waypoints which includes the startNode coordinates as the first waypoint, and the goal node coordinates as the final waypoint.
`java.lang.String`	`toString()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - AstarSearchAlgorithm
```
public AstarSearchAlgorithm()
```
- Method Detail
  - findPath
```
public Path findPath(Node start,
                     Node goal)
```
    Description copied from interface: SearchAlgorithm
    
    Method accepts a start node and a goal node, and returns a path consisting of a collection of waypoints which includes the startNode coordinates as the first waypoint, and the goal node coordinates as the final waypoint. Note: The startNode must be connected with other nodes (neighbors) that eventually connect to the goalNode.
    
    Specified by:
    
    findPath in interface SearchAlgorithm
    
    Returns:
    
    A collection of waypoints. Returns null if it fails to find a path.
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object