public void traverseMap(int startXt, int startYt, int endXt, int endYt)
{
steps = 0;
startX = startXt;
startY = startYt;
targetX = endXt;
targetY = endYt;
positionX = startX;
positionY = startY;
atTarget = false;
SearchAlgorithm search;
do
{
search = new A_Star(map.getMap(), positionX, positionY, targetX, targetY);
givenPath = search.getPath();
do
{
if (steps >= stepLimit)
{
atTarget = true;
break;
}
steps++;
if ((positionX == targetX) && (positionY == targetY))
{
atTarget = true;
break;
}
if (givenPath.Count == 0)
{
atTarget = true;
break;
}
PathNode nextNode = givenPath.Last();
givenPath.Remove(nextNode);
if (sensorManager.isAreaSafe(nextNode) == true)
{
previousX = positionX;
previousY = positionY;
positionX = nextNode.x;
positionY = nextNode.y;
takenPath.Add(nextNode);
sensorManager.updateOwnLocation(positionX, positionY);
}
else
{
sensorManager.updateOwnLocation(nextNode.x, nextNode.y);
break;
}
} while (true);
} while (atTarget == false);
}
public void findPath(int startX, int startY, int targetX, int targetY)
{
SearchAlgorithm aStar = new A_Star(hazardModel, startX, startY, targetX, targetY);
pathNodes = aStar.getPath();
}
public void traverseCompare(int startXt, int startYt, int endXt, int endYt)
{
startX = startXt;
startY = startYt;
targetX = endXt;
targetY = endYt;
positionX = startX;
positionY = startY;
atTarget = false;
SearchAlgorithm search;
search = new A_Star(map.getMap(), positionX, positionY, targetX, targetY);
givenPath = search.getPath();
takenPath = givenPath;
atTarget = true;
}