<commit_before>package edu.utdallas.robotchess.pathplanning;

import java.util.ArrayList;
import java.util.Comparator;
import java.util.PriorityQueue;
import java.util.Stack;

import org.apache.log4j.Logger;
import org.apache.log4j.PropertyConfigurator;

import edu.utdallas.robotchess.engine.Move;

public class MotionPlanner
{
    final int INF = 1000;
    final int REGULAR_SQUARE_COUNT = 64;
    final int REGULAR_ROW_SIZE = 8;
    final int REGULAR_COLUMN_SIZE = 8;
    private final static Logger log = Logger.getLogger(MotionPlanner.class);

    int boardRows;
    int boardColumns;

    public MotionPlanner(int boardRows, int boardColumns)
    {
        PropertyConfigurator.configure("log/log4j.properties");
        this.boardRows = boardRows;
        this.boardColumns = boardColumns;
    }

    public ArrayList<Path> plan(int currentLocations[], int desiredLocations[])
    {
        ArrayList<Path> plan = new ArrayList<>();
        boolean occupancyGrid[] = fillOccupancyGrid(currentLocations);
        ArrayList<Move> movesNeeded = generateMoves(currentLocations, desiredLocations);

        // for now, let's not handle any more than single move plans
        if (movesNeeded.size() > 1)
            return plan;

        for (Move move : movesNeeded) {
            Path path = new Path(move.pieceID, move.origin);

            ArrayList<Integer> squareSequence = dijkstra(occupancyGrid,
                                                         move.origin,<commit_msg>added suppress warnings<commit_after>package edu.utdallas.robotchess.pathplanning;

import java.util.ArrayList;
import java.util.Comparator;
import java.util.PriorityQueue;
import java.util.Stack;

import org.apache.log4j.Logger;
import org.apache.log4j.PropertyConfigurator;

import edu.utdallas.robotchess.engine.Move;

public class MotionPlanner
{
    final int INF = 1000;
    final int REGULAR_SQUARE_COUNT = 64;
    final int REGULAR_ROW_SIZE = 8;
    final int REGULAR_COLUMN_SIZE = 8;
    @SuppressWarnings("unused")
    private final static Logger log = Logger.getLogger(MotionPlanner.class);

    int boardRows;
    int boardColumns;

    public MotionPlanner(int boardRows, int boardColumns)
    {
        PropertyConfigurator.configure("log/log4j.properties");
        this.boardRows = boardRows;
        this.boardColumns = boardColumns;
    }

    public ArrayList<Path> plan(int currentLocations[], int desiredLocations[])
    {
        ArrayList<Path> plan = new ArrayList<>();
        boolean occupancyGrid[] = fillOccupancyGrid(currentLocations);
        ArrayList<Move> movesNeeded = generateMoves(currentLocations, desiredLocations);

        // for now, let's not handle any more than single move plans
        if (movesNeeded.size() > 1)
            return plan;

        for (Move move : movesNeeded) {
            Path path = new Path(move.pieceID, move.origin);

            ArrayList<Integer> squareSequence = dijkstra(occupancyGrid,
                                                         move.origin,
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