Page 294 - The Definitive Guide to Building Java Robots

Preston_5564C07.fm Page 275 Monday, September 26, 2005 5:38 AM

CHAPTER 7 ■ NAVIGATION 275

Vertex u = extractMinimum(); // gets shortest Vertext
settled.add(u);
relaxNeighbors(u);
}
ArrayList l = new ArrayList();
for (Vertex v = end; v != null; v = getPred(v)) {
l.add(v);
}
Collections.reverse(l);
System.out.println("--- PRINT ORDER ---");
for (int d=0;d < l.size();d++) {
Vertex v = (Vertex) l.get(d);
System.out.println(v.name);
}
return l;
}
public Vertex getVertexByName(String n) {
int size = vertices.size();
for (int i = 0; i < size; i++) {
Vertex vi = (Vertex) vertices.get(i);
if (vi.name.equals(n)) {
return vi;
}
}
return null;

}
private int[][] getAdj() {

int[][] adjMatrix = new int[vertices.size()][vertices.size()];
// init all large
for (int i = 0; i < vertices.size(); i++) {
for (int j = 0; j < vertices.size(); j++) {
adjMatrix[i][j] = Integer.MAX_VALUE;
}
}
// set to actual values to zero
for (int i = 0; i < vertices.size(); i++) {
Vertex vi = (Vertex) vertices.get(i);
for (int j = 0; j < vertices.size(); j++) {
Vertex vj = (Vertex) vertices.get(j);
if (i == j) {
adjMatrix[i][j] = 0;