Constructor Detail

• Weighted

  Weighted(Euclidean2DEnvironment<T> environment, Node<T> node, Function1<SteeringAction<T, Euclidean2DPosition>, Double> weight)

  Parameters:

  environment -

  the environment in which the node moves.

  node -

  the owner of the steering actions combined by this strategy.

  weight -

  lambda used to assign a weight to each steering action: the higher the weight, the greater the
  importance of the action.

Method Detail

• computeNextPosition

   Euclidean2DPosition computeNextPosition(List<SteeringAction<T, Euclidean2DPosition>> actions)

  actions are partitioned in group steering actions and non-group steering actions. The overall next position for each of these two sets of actions is computed via weighted sum. The resulting vectors are then summed together (with unitary weight).

  Parameters:

  actions -

  the list of actions to combine.

• computeTarget

   Euclidean2DPosition computeTarget(List<SteeringAction<T, Euclidean2DPosition>> actions)

  If there's no SteeringActionWithTarget among the provided actions, a zero vector is returned. Otherwise, the closest target is picked.

  Parameters:

  actions -

  the list of actions to combine.