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POA* Algorithm Java
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  1. POA* Algorithm Java
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    copied!<p>I have spent entire weekend playing around with this. I am trying to store the nodes in PriorityQueue data structure. My astar function doesnt seem to be doing what it should. Anyone mind having a look?</p> <pre><code>public void aStar(Node from, Node to) { PriorityQueue&lt;Node&gt; exploreList = new PriorityQueue&lt;Node&gt;(); ArrayList&lt;Node&gt; visited = new ArrayList&lt;Node&gt;(); ArrayList&lt;Node&gt; successors = new ArrayList&lt;Node&gt;(); Node current = from; System.out.println(current.getName()); while (current != to) { successors = current.getConnected(); Collections.sort(successors); for (Node n : successors) { if (!visited.contains(n)) { exploreList.add(n); } for (Node n1 : successors) { if (n.fSum() &gt; n1.fSum()) { exploreList.remove(n); exploreList.add(n1); } } } visited.add(current); current = exploreList.remove(); System.out.println(current.getName()); } </code></pre> <p>Node Class here</p> <pre><code> public class Node implements Comparable { private String name; private int travDist; private int straightDist; private ArrayList&lt;Arc&gt; arcs; /** * Constructor for a new node * * @param n */ public Node(String n, int aTravDist, int aStraightDist) { name = n; travDist = aTravDist; straightDist = aStraightDist; arcs = new ArrayList&lt;Arc&gt;(); } /** * Adds a new arc * * @param to * @param c */ public void addArc(Node to, int c) { arcs.add(new Arc(to, c)); } /** * Gets the list of connected nodes to this node * * @return */ public ArrayList&lt;Node&gt; getConnected() { ArrayList&lt;Node&gt; returnData = new ArrayList&lt;Node&gt;(); for (Arc a : arcs) { returnData.add(a.getNode()); } return returnData; } @Override public int compareTo(Object o) { //return name.compareTo(((Node) o).getName()); Integer sum = ((Node)o).fSum(); return sum.compareTo(fSum()); } public int fSum () { return travDist + straightDist; } /** * Gets the name of the Node * * @return */ public String getName() { return name; } } </code></pre>
 

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