Class Explore
-
- All Implemented Interfaces:
-
it.unibo.alchemist.model.cognitive.NavigationStrategy
public class Explore<T extends Object, L extends ConvexShape<Euclidean2DPosition, Euclidean2DTransformation>, R extends Object> implements NavigationStrategy<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>
A NavigationStrategy allowing to explore the environment. In order to choose which direction to take, a weighting system is used: every time the pedestrian enters a new room all the visible doors are weighted, the one with minimum weight is then crossed. The weighting system used here is derived from the one by Andresen et al., see weight.
-
-
Field Summary
Fields Modifier and Type Field Description public final static DoubleDEFAULT_IMPASSE_WEIGHTprivate final NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>actionprivate final OrientingProperty<T, Euclidean2DPosition, Euclidean2DTransformation, L, ConvexPolygon, Euclidean2DPassage>orientingCapability
-
Constructor Summary
Constructors Constructor Description Explore(NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage> action, Double knownImpasseWeight)
-
Method Summary
Modifier and Type Method Description NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>getAction()The NavigationAction used to navigate the environment. UnitinNewRoom(ConvexPolygon newRoom)This is called whenever the node enters a new room. -
-
Constructor Detail
-
Explore
Explore(NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage> action, Double knownImpasseWeight)
-
-
Method Detail
-
getAction
NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage> getAction()
The NavigationAction used to navigate the environment.
-
inNewRoom
Unit inNewRoom(ConvexPolygon newRoom)
This is called whenever the node enters a new room.
-
-
-
-