alchemist/it.unibo.alchemist.model.interfaces.environments/EnvironmentWithGraph

EnvironmentWithGraph

interface EnvironmentWithGraph<W : Obstacle<P>, T, P : Position<P>, Vector<P>, A : GeometricTransformation<P>, N : ConvexGeometricShape<P, A>, E> : EnvironmentWithObstacles<W, T, P>

An EnvironmentWithObstacles providing a NavigationGraph. This is a graph whose nodes are ConvexGeometricShapes representing areas of the environment traversable by agents (namely, walkable areas), whereas edges represent connections between these areas. For instance, in an indoor environment, nodes should represent rooms and corridors, whereas edges should represent doors and passages. This data structure is also known as navigation mesh.

Functions

abstract fun addLayer(p0: Molecule, p1: Layer<T, P>)

abstract fun addNode(p0: Node<T>, p1: P)

abstract fun addObstacle(obstacle: W)

abstract fun addTerminator(p0: Predicate<Environment<T, P>>)

open fun forEach(p0: Consumer<in Node<T>>)

abstract fun getDimensions(): Int

getDistanceBetweenNodes

abstract fun getDistanceBetweenNodes(p0: Node<T>, p1: Node<T>): Double

abstract fun getIncarnation(): Optional<Incarnation<T, P>>

abstract fun getLayer(p0: Molecule): Optional<Layer<T, P>>

abstract fun getLayers(): ListSet<Layer<T, P>>

abstract fun getLinkingRule(): LinkingRule<T, P>

getNeighborhood

abstract fun getNeighborhood(p0: Node<T>): Neighborhood<T>

abstract fun getNodeByID(p0: Int): Node<T>

abstract fun getNodeCount(): Int

abstract fun getNodes(): ListSet<Node<T>>

getNodesWithinRange

abstract fun getNodesWithinRange(p0: P, p1: Double): ListSet<Node<T>>

abstract fun getNodesWithinRange(p0: Node<T>, p1: Double): ListSet<Node<T>>

abstract fun getOffset(): DoubleArray

abstract fun getPosition(p0: Node<T>): P

abstract fun getSimulation(): Simulation<T, P>

abstract fun getSize(): DoubleArray

getSizeInDistanceUnits

abstract fun getSizeInDistanceUnits(): DoubleArray

intersectsObstacle

abstract fun intersectsObstacle(start: P, end: P): Boolean

abstract fun isTerminated(): Boolean

abstract operator override fun iterator(): MutableIterator<Node<T>>

abstract fun makePosition(vararg p0: Number): P

abstract fun makePosition(vararg coordinates: Double): P

open fun moveNode(node: Node<T>, direction: P)

moveNodeToPosition

abstract fun moveNodeToPosition(p0: Node<T>, p1: P)

abstract fun next(current: P, desired: P): P

abstract fun removeNode(p0: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean

abstract fun setLinkingRule(p0: LinkingRule<T, P>)

abstract fun setSimulation(p0: Simulation<T, P>)

open fun spliterator(): Spliterator<Node<T>>

Properties

abstract val graph: NavigationGraph<P, A, N, E>

The navigation graph.

abstract val obstacles: List<W>

open val origin: P

Inheritors

Euclidean2DEnvironmentWithGraph

PhysicsEnvironmentWithGraph