Package it.unibo.alchemist.model.geometry.navigationgraph

Interface NavigationGraph

  • All Implemented Interfaces:
    org.jgrapht.Graph 
    
public interface NavigationGraph<V extends Vector<V>, A extends Transformation<V>, N extends ConvexShape<V, A>, E extends Object>
 implements Graph<N, E>

    A graph used for navigation purposes. Nodes are ConvexShapes, usually representing portions of an environment which are traversable by agents (the advantage of such representation is that agents can freely walk around within a convex area, as it is guaranteed that no obstacle will be found). Note that implementations of this graph must guarantee predictable ordering for the collections they maintain, as reproducibility is a key feature of Alchemist. Be also aware that, by contract, the org.jgrapht.Graph interface does not allow duplicated edges (see org.jgrapht.Graph.addEdge).

    • Nested Class Summary

      Nested Classes 
      Modifier and Type Class Description

    • Field Summary

      Fields 
      Modifier and Type Field Description

    • Constructor Summary

      Constructors 
      Constructor Description

    • Enum Constant Summary

      Enum Constants 
      Enum Constant Description

    • Method Summary

      Modifier and Type Method Description
      N nodeContaining(V position)

      • Methods inherited from class org.jgrapht.Graph

        addEdge, addEdge, addVertex, addVertex, containsEdge, containsEdge, containsVertex, degreeOf, edgeSet, edgesOf, getAllEdges, getEdge, getEdgeSource, getEdgeSupplier, getEdgeTarget, getEdgeWeight, getType, getVertexSupplier, inDegreeOf, incomingEdgesOf, iterables, outDegreeOf, outgoingEdgesOf, removeAllEdges, removeAllEdges, removeAllVertices, removeEdge, removeEdge, removeVertex, setEdgeWeight, setEdgeWeight, vertexSet

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait