package Algorithms;

import edu.carleton.motion.*;
import java.io.*;
import java.util.*;
import java.awt.*;

/** Basic motion planning algorithm.  Returns a two-point path for each
 *  robot, where the first point is the start point and the second is the end.
 *	@author Bill Graner, Dave Flynn
 *	@version 10/5/03
 */
public class StraightLine implements MPAlgorithm
{
    
    //All your base are belong to us.
    public void draw (Graphics g) {
    }
    
    /** The motion planning method.  Returns a straight line for each robot
     *	to follow from start to end. */
    public Vector solve(Scenario problem)
    {
		Vector paths = new Vector(problem.getNRobots());

		for (int k=0; k < problem.getNRobots(); k++)
		    paths.add(k, new SolutionPath());

		//		Vector pointPath;
		SolutionPath tempPath;

		Vector tempbuff;

		// for each robot/SE pair in the problem...
		for (int i=0; i < problem.getNRobots(); i++) {
		    //pointPath = new Vector(2);
		    // put the start & end points into a new vector
		    tempPath = (SolutionPath) problem.getPath(i);

		    ((SolutionPath)paths.get(i)).setStart
			(tempPath.getStartPoint(),
			 tempPath.getStartOrient());
		    
		    ((SolutionPath)paths.get(i)).setEnd
			(tempPath.getEndPoint(),
			 tempPath.getEndOrient());
		    
		    // ((SolutionPath)paths.get(i)).setPath(pointPath);
		    // Put this vector into the vector of paths..
		}

        ((SolutionPath)paths.get(0)).showValues(); 
	
		return paths;
    }
}