alchemist-euclidean-geometry/it.unibo.alchemist.model.geometry.navigationgraph/NavigationGraph

NavigationGraph

interface NavigationGraph<V : Vector<V>, A : Transformation<V>, N : ConvexShape<V, A>, E> : Graph<N, E> (source)

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).

Parameters

V

the Vector type for the space this graph describes.

A

the transformations supported by shapes in this space.

N

the type of nodes (or vertices).

E

the type of edges.

Inheritors

BaseNavigationGraph

Functions

abstract fun addEdge(p0: N, p1: N): E

abstract fun addEdge(p0: N, p1: N, p2: E): Boolean

abstract fun addVertex(): N

abstract fun addVertex(p0: N): Boolean

abstract fun containsEdge(p0: E): Boolean

abstract fun containsEdge(p0: N, p1: N): Boolean

abstract fun containsVertex(p0: N): Boolean

abstract fun degreeOf(p0: N): Int

abstract fun edgeSet(): MutableSet<E>

abstract fun edgesOf(p0: N): MutableSet<E>

abstract fun getAllEdges(p0: N, p1: N): MutableSet<E>

abstract fun getEdge(p0: N, p1: N): E

abstract fun getEdgeSource(p0: E): N

getEdgeSupplier

abstract fun getEdgeSupplier(): Supplier<E>

abstract fun getEdgeTarget(p0: E): N

abstract fun getEdgeWeight(p0: E): Double

abstract fun getType(): GraphType

getVertexSupplier

abstract fun getVertexSupplier(): Supplier<N>

incomingEdgesOf

abstract fun incomingEdgesOf(p0: N): MutableSet<E>

abstract fun inDegreeOf(p0: N): Int

open fun iterables(): GraphIterables<N, E>

open fun nodeContaining(position: V): N?

abstract fun outDegreeOf(p0: N): Int

outgoingEdgesOf

abstract fun outgoingEdgesOf(p0: N): MutableSet<E>

abstract fun removeAllEdges(p0: MutableCollection<out E>): Boolean

abstract fun removeAllEdges(p0: N, p1: N): MutableSet<E>

removeAllVertices

abstract fun removeAllVertices(p0: MutableCollection<out N>): Boolean

abstract fun removeEdge(p0: E): Boolean

abstract fun removeEdge(p0: N, p1: N): E

abstract fun removeVertex(p0: N): Boolean

abstract fun setEdgeWeight(p0: E, p1: Double)

open fun setEdgeWeight(p0: N, p1: N, p2: Double)

abstract fun vertexSet(): MutableSet<N>