Package me.nabdev.pathfinding

Enum Class Pathfinder.PathfindSnapMode

java.lang.Object

java.lang.Enum<Pathfinder.PathfindSnapMode>

me.nabdev.pathfinding.Pathfinder.PathfindSnapMode

All Implemented Interfaces:

Serializable, Comparable<Pathfinder.PathfindSnapMode>, Constable

Enclosing class:

Pathfinder

public static enum Pathfinder.PathfindSnapMode
extends Enum<Pathfinder.PathfindSnapMode>

Determines how vertices will be snapped to the nearest obstacle edge if they are inside of an obstacle. Snapping is useful in case the robot center is inside of the inflated obstacle vertices.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
NONE	No snapping.
SNAP_ALL	Snap start and target vertices
SNAP_ALL_THEN_LINE	Deprecated. Can create very sharp corners as it just draws a straight line, not recommended.
SNAP_START	Snap start vertex
SNAP_TARGET	Snap target vertex
SNAP_TARGET_THEN_LINE	Deprecated. Can create very sharp corners as it just draws a straight line, not recommended.

Method Summary

Modifier and Type	Method	Description
static Pathfinder.PathfindSnapMode	valueOf(String name)	Returns the enum constant of this class with the specified name.
static Pathfinder.PathfindSnapMode[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

NONE

public static final Pathfinder.PathfindSnapMode NONE

No snapping. If a the start or target is inside of an obstacle, an ImpossiblePathException will be thrown.

SNAP_ALL

public static final Pathfinder.PathfindSnapMode SNAP_ALL

Snap start and target vertices

SNAP_ALL_THEN_LINE

@Deprecated
public static final Pathfinder.PathfindSnapMode SNAP_ALL_THEN_LINE

Deprecated.

Can create very sharp corners as it just draws a straight line, not recommended. Instead, use Path.getUnsnappedTarget() and handle moving there yourself after you follow the path if you need to. This may be replaced with a better solution in the future.

Snap start and target vertices. If the target is inside an obstacle, draw a straight line from the snapped target to the original target to drive there anyways

SNAP_START

public static final Pathfinder.PathfindSnapMode SNAP_START

Snap start vertex

SNAP_TARGET

public static final Pathfinder.PathfindSnapMode SNAP_TARGET

Snap target vertex

SNAP_TARGET_THEN_LINE

@Deprecated
public static final Pathfinder.PathfindSnapMode SNAP_TARGET_THEN_LINE

Deprecated.

Can create very sharp corners as it just draws a straight line, not recommended. Instead, use Path.getUnsnappedTarget() and handle moving there yourself after you follow the path if you need to. This may be replaced with a better solution in the future.

If the target is inside an obstacle, snap it and draw a straight line from the snapped target to the original target to drive there anyways.

Method Details

values

public static Pathfinder.PathfindSnapMode[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static Pathfinder.PathfindSnapMode valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null