alchemist/it.unibo.alchemist.model.implementations.actions/AbstractNavigationAction

AbstractNavigationAction

abstract class AbstractNavigationAction<T, P : Position, Vector, A : GeometricTransformation, L : ConvexGeometricShape<P, A>, R, N : ConvexGeometricShape<P, A>, E>(environment: EnvironmentWithGraph<*, T, P, A, N, E>, reaction: Reaction<T>, pedestrian: OrientingPedestrian<T, P, A, L, R>) : AbstractSteeringAction<T, P, A> , NavigationAction<T, P, A, L, R, N, E>

An abstract NavigationAction, taking care of properly moving the pedestrian in the environment while delegating the decision on where to move it to a NavigationStrategy.

Parameters

the concentration type.

the Position type and Vector type for the space the pedestrian is into.

the transformations supported by the shapes in this space.

the type of landmarks of the pedestrian's cognitive map.

the type of edges of the pedestrian's cognitive map, representing the Relations between landmarks.

the type of nodes of the navigation graph provided by the environment.

the type of edges of the navigation graph provided by the environment.

Constructors

AbstractNavigationAction

fun <T, P : Position, Vector, A : GeometricTransformation, L : ConvexGeometricShape<P, A>, R, N : ConvexGeometricShape<P, A>, E> AbstractNavigationAction(environment: EnvironmentWithGraph<*, T, P, A, N, E>, reaction: Reaction<T>, pedestrian: OrientingPedestrian<T, P, A, L, R>)

Functions

cloneAction

open override fun cloneAction(node: Node<T>, reaction: Reaction<T>): Action<T>

crossDoor

abstract fun crossDoor(door: E)

Moves the pedestrian across the provided door, which must be among doorsInSight.

declareDependencyTo

fun declareDependencyTo(p0: Dependency)

doorsInSight

open override fun doorsInSight(): List<E>

execute

open override fun execute()

getConcentration

fun getConcentration(p0: Molecule): Optional<T>

getContext

override fun getContext(): Context

getCurrentPosition

fun getCurrentPosition(): P

getEnvironment

open fun getEnvironment(): Environment<T, P>

getNextPosition

open override fun getNextPosition(): P

getNodePosition

fun getNodePosition(p0: Node<T>): P

getOutboundDependencies

override fun getOutboundDependencies(): ListSet<out Dependency>

isAbsolute

fun isAbsolute(): Boolean

moveToFinal

open override fun moveToFinal(destination: P)

Moves the pedestrian to the given final destination, which must be inside currentRoom.

nextPosition

abstract fun nextPosition(): P

The position the owner of this action moves to when it is executed, in relative coordinates with respect to its current position.

nodeContains

fun nodeContains(p0: Molecule): Boolean

removeConcentration

fun removeConcentration(p0: Molecule)

setConcentration

fun setConcentration(p0: Molecule, p1: T)

stop

open fun stop()

Stops moving the pedestrian.

toString

open override fun toString(): String

update

open fun update()

Updates the internal state but does not move the pedestrian.

Properties

currentRoom

open override var currentRoom: N? = null

The room (= environment's area) the pedestrian is into, this is cached and updated every time update is called so as to avoid potentially costly re-computations.

desiredPosition

val desiredPosition: P

The position the pedestrian wants to reach.

environment

open override val environment: EnvironmentWithGraph<*, T, P, A, N, E>

The environment the pedestrian is into.

maxWalk

open val maxWalk: Double

The maximum distance the pedestrian can walk, this is a length.

pedestrian

override val pedestrian: OrientingPedestrian<T, P, A, L, R>

The owner of this action.

pedestrianPosition

open lateinit override var pedestrianPosition: P

The position of the pedestrian in the environment, this is cached and updated every time update is called so as to avoid potentially costly re-computations.

Inheritors

CognitiveAgentNavigationAction2D