NodePathFinder (leJOS EV3 API documentation)

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

All Implemented Interfaces:

PathFinder
```
public class NodePathFinder
extends java.lang.Object
implements PathFinder
```
This path finder class uses one of the common search algorithms (e.g. A*) and a navigation mesh (e.g. grid) and uses them to find a path around map geometry.

Author:

BB

Constructor Summary

Constructors
Constructor Description

NodePathFinder(SearchAlgorithm alg, NavigationMesh mesh)
Instantiates a NodePathFinder object using a specified algorithm.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`addListener(WaypointListener wpl)`
`Path`	`findRoute(Pose start, Waypoint goal)`
`void`	`setNavMesh(NavigationMesh mesh)`	Method for changing the navigation mesh after this has been instantiated.
`void`	`setSearchAlgorithm(SearchAlgorithm alg)`	Method for changing the search algorithm after this has been instantiated.
`void`	`startPathFinding(Pose start, Waypoint end)`

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

- Constructor Detail
  - NodePathFinder
```
public NodePathFinder(SearchAlgorithm alg,
                      NavigationMesh mesh)
```
    Instantiates a NodePathFinder object using a specified algorithm. The supplied mesh is used to add and remove nodes (start and goal) when requesting a path.
    
    Parameters:
    
    alg - The search algorithm.
    
    mesh - The navigation mesh is a set of nodes in various configurations (e.g. grid).
- Method Detail
  - setNavMesh
```
public void setNavMesh(NavigationMesh mesh)
```
    Method for changing the navigation mesh after this has been instantiated.
    
    Parameters:
    
    mesh -
  - setSearchAlgorithm
```
public void setSearchAlgorithm(SearchAlgorithm alg)
```
    Method for changing the search algorithm after this has been instantiated.
    
    Parameters:
    
    alg -
  - addListener
```
public void addListener(WaypointListener wpl)
```
    Specified by:
    
    addListener in interface PathFinder
  - findRoute
```
public Path findRoute(Pose start,
                      Waypoint goal)
               throws DestinationUnreachableException
```
    Specified by:
    
    findRoute in interface PathFinder
    
    Throws:
    
    DestinationUnreachableException
  - startPathFinding
```
public void startPathFinding(Pose start,
                             Waypoint end)
```
    Specified by:
    
    startPathFinding in interface PathFinder