mariueng / assignment1ai Goto Github PK

• Make class
• Attributes: xValue, yValue, groundType (groundType can be FS, MB or MO), NEIGHBORS (ArrayList on fixed size 4. Where index 0 = up neighbor, 1 = right, 2 = down, 3 = left)
• Method: constructor
• Method: setGroundType. Setter for gound type.
• Method: addNeighbors. Input: Node n and int i. Retun void.

• Make new administrative class "PathForAllMovingBoxes"
• Field: an arraylist<arraylist>, that is a list of paths for all moving boxes
• method: makePathForAllMovingBoxes();

• Attributes: distance (between nodes), k (number of last nodes you will have to check in VERTICES for neighborhood), VERTICES (ArrayList collection of all nodes).
• Method: Constructor
• Method: sampleVertices (Called in the constructor). Utilizes class Node to generate nodes and edges. This will eventually represent the C-space.
• Methods: changeGroundType{x1, y1, x2, y2} (where x1,y1 reprsent area where a box was before, and x2,y2 represent area where box is now located) and loop through all elements in VERTICES to see if they need to change their groundType.

Input: ArrayList
Output: ArrayList

Will be used only for discretizing the path from a robot start position to the position of the next box to move. Does not take rotation into account.

• Class: PathForRobot
• Do not take rotation into account yet
• Need to make a node at the line segment of the box you want to move, oppsite of where the box will start to move in it's path
• Input: Node startNode, Box movingBox
• output: ArrayList

Make sure that the robot will find it,s right orientation before it starts to move to the first moving box. Needs to check the direction of the next moving box.

• Improve the algorithm in method findPath(Node startNode, Node goalNode) so that it takes the f = k + h works according to litterature

• Box shall move in the discretized path
• Robot shall always move grid.getLength()/2 (or simply w/2) units behind the box
• The robot need a procedure each time the path changes direction: go w/2 units back, rotate 90 degress, move w/2 unit to one of the sides (chech next direction!) and move w the orthogonal direction, and then start to push box forward again.

-[ ] Make class PathFinder which implements A* search based on euclidean distance from init node to goal node

• Make node for box center point. Connect it with helping node.
• Make helping node for the center node, such that ell edges are orthogonal. Connect this edge to the grid
• Make node for the end position where the box center point is suppose to end up. Connect it to grid.

• Make an algorithm to discretize the path for a moving box, such that every step is maximum 0.001 unit