Page 242 - The Definitive Guide to Building Java Robots

Preston_5564C07.fm Page 223 Monday, September 26, 2005 5:38 AM

CHAPTER 7 ■ NAVIGATION 223

Example 7-1. Vertex.java
package com.scottpreston.javarobot.chapter7;

public class Vertex {

public String name;

public Vertex() {}

public Vertex(String n) {
name = n;
}
}

Example 7-2. Edge.java
package com.scottpreston.javarobot.chapter7;

public class Edge {

public String name;
public Vertex v1;
public Vertex v2;
public int w;

public Edge() {}
// constructs with two vertices and a weight
public Edge(Vertex v1, Vertex v2, int w) {
this.v1 = v1;
this.v2 = v2;
this.w = w;
}
public String toString() {
return "{v1=" + v1.name +",v2=" + v2.name + ",w=" + w +"}";
}

}
In this chapter, I will create 19 classes and one basic Stamp program. There will be five
navigational classes:
• Navigation: Performs basic navigation (best in ideal regions)
• Localization: Provides a start point for a robot and gives it the ability to navigate to other
coordinates
• ObstacleNavigation: Provides for obstacle avoidance during navigation