alchemist/it.unibo.alchemist.model.implementations.geometry.euclidean2d.navigator

Package it.unibo.alchemist.model.implementations.geometry.euclidean2d.navigator

Types

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class ExtendableConvexPolygonInEnvironment(vertices: MutableList<Euclidean2DPosition>, origin: Euclidean2DPosition, width: Double, height: Double, awtObstacles: List<Shape>) : AwtMutableConvexPolygon, ExtendableConvexPolygon
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An ExtendableConvexPolygon located inside an environment with obstacles. Obstacles, as well as the environment's boundaries, are taken into account when the polygon is extended (i.e. the polygon is prevented from intersecting an obstacle or growing beyond such boundaries). A rectangular region is assumed, its origin, width and height are to be specified. Both java.awt.Shapes and ConvexPolygons can be specified as obstacles (see awtObstacles and polygonalObstacles). This class is explicitly designed for the algorithm contained in generateNavigationGraph. TODO(improve the quality of this class)

Functions

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fun generateNavigationGraph(origin: Euclidean2DPosition = Euclidean2DPosition(0.0, 0.0), width: Double, height: Double, obstacles: List<Shape>, rooms: Collection<Euclidean2DPosition>, unity: Double = 1.0): Euclidean2DNavigationGraph
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TODO(improve the quality of this algorithm) NaviGator (Navigation Graphs Generator) is an algorithm capable of generating an Euclidean2DNavigationGraph of a given environment with obstacles. The nodes of the produced graph are convex polygons representing the areas of the environment traversable by agents (namely, walkable areas), whereas edges represent connections between them.