CS 2210a — Data Structures and Algorithms Assignment 5 Path Planning


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For this assignment you will write a program that given a road map, it will find a path between two specified
points, if such a path exists. Some of the roads in the map are free and some are toll roads; the use of a toll
road costs 1 dollar. Your program will receive as input a file with a description of the road map, the starting
point s, the destination e, and the amount of money k available to pay for toll roads. The program will then
try to find a path from s to t that uses at most k toll roads.
Your program will store the road map as an undirected graph. Every edge of the graph represents a road
and every node represents either the intersection of 2 roads or the end of a dead-end road. There are two
special nodes in this graph denoting the starting point s and the destination e. A modified depth first search
traversal, for example, can be used to find a path as required.
2 Classes to Implement
You are to implement at least six Java classes: Node, Edge, GraphException, Graph, MapException,
and Map. You can implement more classes if you need to, as long as you follow good program design and
information-hiding principles.
You must write all code yourself. You cannot use code from the textbook, the Internet, other students,
or any other sources. However, you are allowed to use the algorithms discussed in class.
For each one of the classes below, you can implement more private methods if you want to, but you
cannot implement additional public methods.
2.1 Node
This class represent a node of the graph. You must implement these public methods:
• Node(int name): This is the constructor for the class and it creates an unmarked node (see below)
with the given name. The name of a node is an integer value between 0 and n − 1, where n is the
number of nodes in the graph.
A node can be marked with a value that is either true or false using method setMark. This is
useful when traversing the graph to know which vertices have already been visited.
• setMark(boolean mark): Marks the node with the specified value.
• boolean getMark(): Returns the value with which the node has been marked.
• int getName(): Returns the name of the vertex.
2.2 Edge
This class represents an edge of the graph. You must implement these public methods:
• Edge(Node u, Node v, String type): The constructor for the class. The first two parameters
are the endpoints of the edge. The last parameter is the type of the edge, which for this project can
be either “free” (if the edge represents a free road) or “toll” (if the edge represents a toll road). Each
edge will also have a String label. When an edge is created this label is initially set to the empty
• Node firstEndpoint(): Returns the first endpoint of the edge.
• Node secondEndpoint(): Returns the second endpoint of the edge.
• String getType(): Returns the type of the edge. As mentioned above, the type of an edge is either
“free” or “toll”.
• setLabel(String label): Sets the label of the edge to the specified value; you can use this
method, for example, to label an edge as “discovery”, or “back”.
• String getLabel(): Gets the label of the edge.
2.3 Graph
This class represents an undirected graph. You must use use an adjacency matrix or an adjacency list
representation for the graph. For this class, you must implement all the public methods specified in the
GraphADT interface plus the constructor. These public methods are described below.
• Graph(n): Creates a graph with n nodes and no edges. This is the constructor for the class. The
names of the nodes are 0, 1, . . . , n−1.
• insertEdge(Node u, Node v, String edgeType): Add an edge of the given type to the graph
connecting u and v. The label of the edge is the empty String. This method throws a GraphException
if either node does not exist or if in the graph there is already an edge connecting the given nodes.
• Node getNode(int name): Returns the node with the specified name. If no node with this name
exists, the method should throw a GraphException.
• Iterator incidentEdges(Node u): Returns a Java Iterator storing all the edges incident on node
u. It returns null if u does not have any edges incident on it.
• Edge getEdge(Node u, Node v): Returns the edge connecting nodes u and v. This method
throws a GraphException if there is no edge between u and v.
• boolean areAdjacent(Node u, Node v): Returns true if nodes u and v are adjacent; it returns
false otherwise.
The last three methods throw a GraphException if u or v are not nodes of the graph.
2.4 Map
This class represents the road map. As mentioned above, a graph will be used to store the map and to find
a path from the starting point to the destination. For this class you must implement the following public
• Map(String inputFile): Constructor for building a road map from the content of the input file. If
the input file does not exist, this method should throw a MapException. Read below to learn about
the format of the input file.
• Graph getGraph(): Returns a reference to the graph representing the road map. This method throws
a MapException if the graph is not defined.
• Iterator findPath(): Returns a Java Iterator containing the nodes along the path from the starting
point to the destination, if such a path exists. If the path does not exist, this method returns the value
null. For example for the road map described below the Iterator returned by this method should
contain the nodes 0, 1, 5, 6, and 10.
3 Implementation Issues
3.1 Input File
The input file is a text file with the following format:
V V V · · ·V V
V V V · · ·V V

Each one of the first four lines contain one number:
• S is the scale factor used to display the map on the screen. Your program will not use this value. If
the map appears too small on your screen, you must increase this value. Similarly, if the map is too
large, choose a smaller value for the scale.
• W is the width of the map. The roads of the map are arranged in a grid. The number of vertical roads
in each row of this grid is the width of the labyrinth.
• L is the length of the map, or the number of horizontal roads in each column of the grid.
• K is the number of toll roads that the program is allowed to use in the path from the starting point to
the destination.
For the rest of the file, R is any of the following characters: ’s’, ’e’, or ’o’. H could be ’ ’ (space), ’h’, or
’-’, and V could be ’|’, ’ ’, or ’v’. The meaning of the above characters is as follows:
• ’s’: starting point
• ’e’: destination
• ’o’: intersection of two roads
• ’h’: horizontal toll road
• ’v’: vertical toll road
• ’-’: horizontal free road
• ’|’: vertical free road
• ’ ’: block of houses
There is only one starting point and one destination, and each line of the file (except the first four lines) must
have the same length. Here is an example of an input file:
s-o oho
| | | |
v | |
This input represents the following road map

toll road
starting point
As specified in the fourth line of the input file, for this road map up to one toll road could be used to try
to reach the destination.
3.2 Graph Construction
The road map is represented as a graph in which nodes are numbered consecutively, starting at zero from
left to right and top to bottom. For example, the above road map is represented with this graph:
8 9 10 11
4 5 6 7
0 1 2 3
starting point
where dotted edges represent toll roads and solid edges represent free roads. In the Map class you need to
keep a reference to the sta
3.3 Finding a Path
Your program must find any path from the starting vertex to the destination vertex that uses at most the
specified number of edges representing toll roads. If there are several such paths, your program might return
any one of them.
The solution can be found, for example, by using a modified DFS traversal. While traversing the graph,
your algorithm needs to keep track of the vertices along the path that the DFS traversal has followed. If the
current path already has the maximum allowed number of toll-road edges, then no more toll-road edges can
be added to it.
For example, consider the above graph and let the number of allowed toll-road edges in the solution
be 1. Assume that the algorithm visits first vertices 0, 4, and 5. As the algorithm traverses the graph, all
visited vertices get marked. While at vertex 5, the algorithm cannot next visit vertices 6 or 9, since then two
toll roads would have been used by the current path. Hence, the algorithm goes next to vertex 1. However,
the destination cannot be reached from here, so the algorithm must go back to vertex 5, and then back to
vertices 4 and 0. Note that vertices 1, 5 and 4 must be unmarked when DFS traces its steps back, otherwise
the algorithm will not be able to find a solution. Next, the algorithm will move from vertex 0 to vertices 1,
5, and 6 (the edge from 5 to 6 can be followed because when at vertex 5, the current path is 0, 1, 5, which
has no toll-road edges yet). From 6 the exit 10 is reached on the next step. So, the solution produced by the
algorithm is: 0, 1, 5, 6, and 10.
You do not have to implement the above algorithm if you do not want to. Please feel free to design your
own solution for the problem.
4 Code Provided
You can download from the course’s website the following files: DrawMap.java, Board.java, Solve.java,
GraphADT.java, house1.jpg, house2.jpg, house3.jpg, and house4.jpg. Class DrawMap provides
the following public methods that you will use to display the labyrinth and the solution computed by your
• DrawMap(String inputFile): Displays the road map on the computer’s screen. The parameter is
the name of the input file.
• drawEdge(Node u, Node v): draws an edge connecting the specified vertices.
Read carefully class Solve.java to learn how to invoke the methods from the Map class to find the required
path. Solve.java also shows how to use the iterator returned by the Map.findPath() method to draw the
solution found by your algorithm. You can use Solve.java to test your implementation of the Map.java
class. Class Board.java is an auxiliary class for DrawMap, and GraphADT.java contains the Graph ADT.
The .jpg files are used to display the map on the screen.
You can also download from the course’s website some examples of input files that we will use to test
your program. We will also post a program that we will use to test your implementation for the Graph class.
5 Hints
You might find the Vector and Stack classes useful. However, you do not have to use them if you do
not want to. Recall that the java class Iterator is an interface, so you cannot create objects of type
Iterator. The methods provided by this interface are hasNext(), next(), and remove(). An Iterator
can be obtained from a Vector or Stack object by using the method iterator(). For example, if your
algorithm stores the path from the entrance of the labyrinth to the exit in a Stack S, then an iterator can be
obtained from S by invoking S.iterator().
6 Coding Style
Your mark will be based partly on your coding style.
• Variable and method names should be chosen to reflect their purpose in the program.
• Comments, indenting, and white spaces should be used to improve readability.
• No variable declarations should appear outside methods (“instance variables”) unless they contain
data which is to be maintained in the object from call to call. In other words, variables which are
needed only inside methods, whose values do not have to be remembered until the next method call,
should be declared inside those methods.
• All variables declared outside methods (“instance variables”) should be declared private, to maximize information hiding. Any access to the variables should be done with accessor methods.
7 Marking
Your mark will be computed as follows.
• Program compiles, produces meaningful output: 2 marks.
• Tests for the Graph class: 4 marks.
• Tests for the Map class: 4 marks.
• Coding style: 2 marks.
• Graph implementation: 4 marks.
• Map implementation: 4 marks.
8 Handing In Your Program
You must submit an electronic copy of your program through OWL. Please DO NOT put your code in
sub-directories. Please DO NOT submit a .zip file containing your code; submit the individual .java files.
When you submit your program, we will receive a copy of it with a datestamp and timestamp. You
can submit your program more than once if you need to. We will take the latest program submitted as the
final version, and will deduct marks accordingly if it is late. Please send me an email if you make multiple
submissions so we can ensure that your last submission is marked.