Exploring
open class Exploring<T, L : Euclidean2DConvexShape, R>(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownImpasseWeight: Double) : NavigationStrategy<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>
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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.
Parameters
T
the concentration type.
L
the type of landmarks of the pedestrian's cognitive map.
R
the type of edges of the pedestrian's cognitive map, representing the Relations between landmarks.
Constructors
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fun Exploring(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownImpasseWeight: Double = DEFAULT_IMPASSE_WEIGHT)
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Types
Functions
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This is called whenever the pedestrian enters a new room.
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open fun inUnexpectedNewRoom(previousRoom: ConvexPolygon, expectedNewRoom: ConvexPolygon, actualNewRoom: ConvexPolygon)
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This is called in place of inNewRoom when the pedestrian ends up in an unexpected room while moving. By default, unexpected rooms are treated just like expected ones.
Properties
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open override val action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>
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