alchemist-cognitive-agents/it.unibo.alchemist.model.cognitive.actions/CognitiveAgentNavigationAction2D

CognitiveAgentNavigationAction2D

open class CognitiveAgentNavigationAction2D<T, L : Euclidean2DConvexShape, R>(val environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>, reaction: Reaction<T>, pedestrian: PedestrianProperty<T>, wallRepulsionFactor: Double = DEFAULT_WALL_REPULSION_FACTOR) : AbstractNavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage> (source)

Implementation of a NavigationAction2D. This action accepts an Euclidean2DEnvironmentWithGraph whose graph contains ConvexPolygonal nodes and Euclidean2DPassages as edges.

Parameters

reaction

the reaction executing this action

pedestrian

the owner pedestrian property

wallRepulsionFactor

factor used to push nodes away from passage walls

Type Parameters

T

the concentration type

L

the type of landmarks in the node's cognitive map

R

the type of edges in the node's cognitive map representing relations

Inheritors

CognitiveAgentExplore

CognitiveAgentFollowRoute

CognitiveAgentGoalOrientedExplore

CognitiveAgentPursue

CognitiveAgentReachDestination

CognitiveAgentReachKnownDestination

Constructors

CognitiveAgentNavigationAction2D

constructor(environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>, reaction: Reaction<T>, pedestrian: PedestrianProperty<T>, wallRepulsionFactor: Double = DEFAULT_WALL_REPULSION_FACTOR)

Types

object Companion

Contains the default constants.

Properties

override val context: Context?

open override var currentRoom: ConvexPolygon?

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

desiredPosition

val desiredPosition: Euclidean2DPosition

The position the node wants to reach.

override val environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>

the Euclidean environment with navigation graph

open val maxWalk: Double

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

override val navigatingNode: Node<T?>

The owner of this action.

open override val nextPosition: Euclidean2DPosition

orientingProperty

open val orientingProperty: OrientingProperty<T, Euclidean2DPosition, Euclidean2DTransformation, L, ConvexPolygon, Euclidean2DPassage>

The navigatingNode's orienting property.

outboundDependencies

override val outboundDependencies: ListSet<out Dependency?>

pedestrianPosition

open lateinit override var pedestrianPosition: Euclidean2DPosition

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

Functions

open override fun cloneAction(node: Node<T>, reaction: Reaction<T>): CognitiveAgentNavigationAction2D<T, L, R>

This method allows to clone this action on a new node. It may result useful to support runtime creation of nodes with the same reaction programming, e.g. for morphogenesis.

open override fun crossDoor(door: Euclidean2DPassage)

Moves the node across the provided door, which must be among the doors returned by doorsInSight.

open override fun doorsInSight(): List<Euclidean2DPassage>

open fun execute()

fun getContext(): Context?

getNextPosition

open override fun getNextPosition(): Euclidean2DPosition

getOutboundDependencies

fun getOutboundDependencies(): ListSet<out Dependency?>

open override fun moveToFinal(destination: Euclidean2DPosition)

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

open override fun nextPosition(): Euclidean2DPosition

Returns the target relative position the owner will move to when this action is executed. The position is relative to the owner's current position.

open fun stop()

Stops the node by moving it to its current position.

open fun update()

Updates the internal state but does not move the node.