node.java

2004年robotcup世界冠军源代码

// Copyright (C) 2002 Takeshi Morimoto <[e-mail]>
// All rights reserved.


package yab.agent.object;

import yab.agent.DisasterSpace;
import yab.io.object.*;
import java.util.*;
import MRL.Utilities.Partitioning.Path;

public class Node extends Vertex implements MRL.Utilities.ConstantConditions {
    public Node(int id, DisasterSpace world)
    { super(id, new BaseNode(id), world); }
    private BaseNode obj() { return (BaseNode) object; }

    /**
     * @return whether it is possible to move from this Node to the
     *         specified road
     */
    public boolean isMovableTo(Road road)
    {
        return (this == road.head() && road.passableLinesToTail() >= 1
                || this == road.tail() && road.passableLinesToHead() >= 1);
    }

    private List connectedRoads = null;
    public List getConnectedRoads(){
      if(connectedRoads == null){
        connectedRoads=new ArrayList();
        connectedRoads.addAll(ROAD_C.extract(neighborhood()));
      }
      return connectedRoads;
    }

    private List connectedBuildings=null ;
    public List getConnectedBuildings() {
      if (connectedBuildings == null) {
        connectedBuildings = new ArrayList();
        connectedBuildings.addAll(BUILDING_C.extract(neighborhood()));
      }
      return connectedBuildings;
    }

    private List connectedPaths = null;
    public List getConnectedPaths(){
        if(connectedPaths == null){
            connectedPaths = new ArrayList();
            Path path = world.getContainingPath(this);
            if(path != null ){
                connectedPaths.add(path);
            }else{
                for(Iterator it = getConnectedRoads().iterator();it.hasNext();){
                    path = world.getContainingPath((Road)it.next());
                    connectedPaths.add(path);
                }
            }
        }
        return connectedPaths;
    }
}