Class Pursue
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it.unibo.alchemist.model.cognitive.NavigationStrategy
public class Pursue<T extends Object, L extends ConvexShape<Euclidean2DPosition, Euclidean2DTransformation>, R extends Object> extends Explore<T, L, R>
A NavigationStrategy allowing to pursue a known (static) destination without knowing any path leading there, this is also known as path searching. In this context, knowing a destination means knowing its position, which, in turn, means knowing two things:
the direction that connects the destination and the current position as the crow flies,
an estimation of the distance between the destination and the current position. In order to reach the destination without a route to follow, the weighting system used in Explore is extended so as to take into account the (estimated) suitability of each door to reach the provided destination, see suitabilityFactor.
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Field Summary
Fields Modifier and Type Field Description private final NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>actionprivate final OrientingProperty<T, Euclidean2DPosition, Euclidean2DTransformation, L, ConvexPolygon, Euclidean2DPassage>orientingCapability
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Constructor Summary
Constructors Constructor Description Pursue(NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage> action, Euclidean2DPosition destination)
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Method Summary
Modifier and Type Method Description UnitinNewRoom(ConvexPolygon newRoom)This is called whenever the node enters a new room. -
Methods inherited from class it.unibo.alchemist.model.cognitive.navigation.Explore
getAction -
Methods inherited from class it.unibo.alchemist.model.cognitive.NavigationStrategy
getOrientingCapability, inUnexpectedNewRoom -
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Constructor Detail
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Pursue
Pursue(NavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage> action, Euclidean2DPosition destination)
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Method Detail
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inNewRoom
Unit inNewRoom(ConvexPolygon newRoom)
This is called whenever the node enters a new room.
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