百度地图实现最简单的路径规划

/*设置目的地开始导航/
if (BaiduNaviManager.isNaviInited()) {
routeplanToNavi();
}

============================
/**
* 路径规划相关
*/
private void initRoutePlan() {
RoutePlanSearch searh = RoutePlanSearch.newInstance();
PlanNode s = PlanNode.withLocation(latLng);
PlanNode e = PlanNode.withLocation(densitylatLng);
searh.drivingSearch(new DrivingRoutePlanOption().from(s).to(e));
searh.setOnGetRoutePlanResultListener(new OnGetRoutePlanResultListener() {
@Override
public void onGetWalkingRouteResult(WalkingRouteResult result) {
}

        @Override
        public void onGetTransitRouteResult(TransitRouteResult transitRouteResult) {

        }

        @Override
        public void onGetMassTransitRouteResult(MassTransitRouteResult mas