| 1 | package dk.deepthought.sidious.planner; |
| 2 | |
| 3 | import java.util.Collection; |
| 4 | |
| 5 | import org.apache.commons.logging.Log; |
| 6 | import org.apache.commons.logging.LogFactory; |
| 7 | |
| 8 | import dk.deepthought.sidious.planner.graph.AStarGraph; |
| 9 | import dk.deepthought.sidious.planner.graph.Graph; |
| 10 | import dk.deepthought.sidious.supportsystem.Adjustable; |
| 11 | import dk.deepthought.sidious.supportsystem.State; |
| 12 | import dk.deepthought.sidious.supportsystem.SuperLinkID; |
| 13 | |
| 14 | /** |
| 15 | * The graph factory. |
| 16 | * |
| 17 | * @author Deepthought |
| 18 | * |
| 19 | */ |
| 20 | public class GraphFactory { |
| 21 | |
| 22 | private static final Log logger = LogFactory.getLog(GraphFactory.class); |
| 23 | |
| 24 | /** |
| 25 | * This method is a factory for creating a <code>Graph</code>. |
| 26 | * <p> |
| 27 | * The input states (<code>source</code> and <code>goal</code>) must: |
| 28 | * <li> have same dimension |
| 29 | * <li> operate in the same state space |
| 30 | * |
| 31 | * @param requester |
| 32 | * the id of the originating <code>PlanRequester</code> |
| 33 | * @param source |
| 34 | * the beginning of any path in the graph |
| 35 | * @param goal |
| 36 | * the end of any path in the graph |
| 37 | * @return a graph |
| 38 | */ |
| 39 | public static Graph makeGraph(SuperLinkID requester, State source, |
| 40 | State goal) { |
| 41 | if (logger.isDebugEnabled()) { |
| 42 | logger.debug("makeGraph() - start"); |
| 43 | } |
| 44 | if (requester == null || source == null || goal == null) { |
| 45 | logger.error("makeGraph(SuperLinkID requester=" + requester |
| 46 | + ", State source=" + source + ", State goal=" + goal |
| 47 | + ") - not valid input"); |
| 48 | throw new IllegalArgumentException("null not valid input"); |
| 49 | } |
| 50 | Collection<Adjustable> adjustables = PlannerEngine |
| 51 | .getAdjustables(requester); |
| 52 | Heuristic greenhouseHeuristic = new GreenhouseHeuristic(requester, |
| 53 | source, goal); |
| 54 | Graph returnGraph = new AStarGraph(source, goal, adjustables, |
| 55 | greenhouseHeuristic, requester); |
| 56 | if (logger.isDebugEnabled()) { |
| 57 | logger.debug("makeGraph() - end - return value=" + returnGraph); |
| 58 | } |
| 59 | return returnGraph; |
| 60 | } |
| 61 | } |