refactoring code

.gitignore

@@ -10,6 +10,5 @@
 !Robotcontroller/
 !Robotcontroller/robotcontroller/
 !Robotcontroller/robotcontroller/NativeNav.java
-!Robotcontroller/robotcontroller/NativeNavP2PRouting.java
-!Robotcontroller/robotcontroller/visualGraph
-!Robotcontroller/robotcontroller/visualGraph/*
+!Robotcontroller/robotcontroller/visibilityGraph
+!Robotcontroller/robotcontroller/visibilityGraph/*
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Robotcontroller/robotcontroller/NativeNav.java

 package robotcontroller;
 
 import basics.math.Geom;
+import robotcontroller.visibilityGraph.VGAStarRouting;
 import robotinterface.Robot;
 import robotinterface.RobotController;
 import robotinterface.RobotGeomUtil;
@@ -92,7 +93,7 @@ public class NativeNav extends RobotController implements MotionSubsystemListene
         // if the robot should be able to turn on the spot in every point
         //double drivingBuffer = Robot.robotLengthRotation - Robot.headingDistance + safetyDistance;
 
-        Pos2PosRouting p2p = new NativeNavP2PRouting(drivingBuffer * 1.1, drivingBuffer);
+        Pos2PosRouting p2p = new VGAStarRouting(drivingBuffer * 1.1, drivingBuffer);
 
         driver = new TrajectorySequenceDriver(
                 30, // rotateSpeed,

Robotcontroller/robotcontroller/visualGraph/AStar.java → Robotcontroller/robotcontroller/visibilityGraph/AStar.java

-package robotcontroller.visualGraph;
+package robotcontroller.visibilityGraph;
 
 import basics.points.Point;
 import robotinterface.Robot;

Robotcontroller/robotcontroller/visualGraph/AStarNode.java → Robotcontroller/robotcontroller/visibilityGraph/AStarNode.java

-package robotcontroller.visualGraph;
+package robotcontroller.visibilityGraph;
 
 import basics.points.Point;
 
-import java.util.Comparator;
 import java.util.Optional;
 
 public class AStarNode extends Point implements Comparable<AStarNode> {

Robotcontroller/robotcontroller/visualGraph/Graph.java → Robotcontroller/robotcontroller/visibilityGraph/Graph.java

-package robotcontroller.visualGraph;
+package robotcontroller.visibilityGraph;
 
 import java.util.HashMap;
 import java.util.HashSet;

Robotcontroller/robotcontroller/visualGraph/RoutingGraph.java → Robotcontroller/robotcontroller/visibilityGraph/RoutingGraph.java

-package robotcontroller.visualGraph;
+package robotcontroller.visibilityGraph;
 
 import basics.points.Point;
 import basics.points.util.LinkedPoint;

Robotcontroller/robotcontroller/NativeNavP2PRouting.java → Robotcontroller/robotcontroller/visibilityGraph/VGAStarRouting.java

-package robotcontroller;
+package robotcontroller.visibilityGraph;
 
 import basics.math.Geom;
 import basics.points.Point;
 import basics.points.PointCloud2D;
 import basics.points.PointCloudCreator2D;
 import basics.points.util.LinkedPoint;
-import robotcontroller.visualGraph.AStar;
-import robotcontroller.visualGraph.Graph;
-import robotcontroller.visualGraph.RoutingGraph;
+import robotcontroller.visibilityGraph.AStar;
+import robotcontroller.visibilityGraph.Graph;
+import robotcontroller.visibilityGraph.RoutingGraph;
 import robotinterface.Robot;
 import robotinterface.debug.DebugPainterOverlay;
 import robotlib.nav.Pos2PosRouting;
@@ -19,7 +19,7 @@ import java.util.List;
 import java.util.Optional;
 import java.util.stream.Collectors;
 
-import static robotcontroller.visualGraph.util.*;
+import static robotcontroller.visibilityGraph.util.*;
 
 
 /**
@@ -27,7 +27,7 @@ import static robotcontroller.visualGraph.util.*;
 * This navigation only iterates a pre-defined list of positions.
 * Reasonable approaches must consider the obstacle map and dynamically create a reasonable path through free space.
 */
-public class NativeNavP2PRouting extends Pos2PosRouting {
+public class VGAStarRouting extends Pos2PosRouting {
 
     private final double bufferDistance;
     private final double drivingBuffer;
@@ -38,7 +38,7 @@ public class NativeNavP2PRouting extends Pos2PosRouting {
 
     private Optional<double[][]> route = Optional.empty();
 
-    public NativeNavP2PRouting(double bufferDistance, double drivingBuffer) {
+    public VGAStarRouting(double bufferDistance, double drivingBuffer) {
         this.bufferDistance = bufferDistance;
         this.drivingBuffer = drivingBuffer;
         this.obstacleCloud =  new PointCloudCreator2D<>(PointCloudCreator2D.TYPE_GRID, 10.0, 20).createEmpty();

Robotcontroller/robotcontroller/visualGraph/util.java → Robotcontroller/robotcontroller/visibilityGraph/util.java

-package robotcontroller.visualGraph;
+package robotcontroller.visibilityGraph;
 
 import basics.points.Point;
 import basics.points.PointCloud2D;

build_NativeNav.bat

-javac -cp .;jars\Basics.jar;jars\Customsim.jar;jars\Driver.jar;jars\Platform.jar;jars\Robotinterface.jar;jars\Robotlib.jar;jars\Simulator.jar; Robotcontroller\robotcontroller\NativeNavP2PRouting.java Robotcontroller\robotcontroller\NativeNav.java Robotcontroller\robotcontroller\visualGraph\*.java
+javac -cp .;jars\Basics.jar;jars\Customsim.jar;jars\Driver.jar;jars\Platform.jar;jars\Robotinterface.jar;jars\Robotlib.jar;jars\Simulator.jar; Robotcontroller\robotcontroller\NativeNav.java Robotcontroller\robotcontroller\visibilityGraph\*.java
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