alchemist-euclidean-geometry/it.unibo.alchemist.model.environments/EnvironmentWithGraph

EnvironmentWithGraph

interface EnvironmentWithGraph<W : Obstacle<P>, T, P : Position<P>, Vector<P>, A : Transformation<P>, N : ConvexShape<P, A>, E> : EnvironmentWithObstacles<W, T, P> (source)

An EnvironmentWithObstacles providing a NavigationGraph. This is a graph whose nodes are ConvexShapes 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.

Inheritors

Euclidean2DEnvironmentWithGraph

Properties

currentPosition

open val Node<T>.currentPosition: P

abstract val dimensions: Int

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

The navigation graph.

abstract val incarnation: Incarnation<T, P>

abstract val isTerminated: Boolean

abstract val layers: Map<Molecule, Layer<T, P>>

open val Node<T>.neighborhood: Observable<Neighborhood<T>>

abstract var networkModel: NetworkModel<T>

abstract val nodeCount: Observable<Int>

abstract val nodes: ObservableList<Node<T>>

abstract val obstacles: List<W>

abstract val offset: DoubleArray

open val origin: P

open val Node<T>.position: Observable<P>

abstract val reactions: ObservableList<Reaction<T>>

abstract var simulation: Simulation<T, P>

simulationOrNull

abstract val simulationOrNull: Simulation<T, P>?

abstract val size: DoubleArray

sizeInDistanceUnits

abstract val sizeInDistanceUnits: DoubleArray

Functions

abstract fun addLayer(molecule: Molecule, layer: Layer<T, P>)

abstract fun addNode(node: Node<T>, position: P): Boolean

abstract fun addObstacle(obstacle: W)

abstract fun addReaction(reaction: Reaction<T>)

abstract fun addTerminator(terminator: TerminationPredicate<T, P>)

open fun addTerminator(terminator: (Environment<T, P>) -> Boolean)

open operator fun contains(node: Node<T>): Boolean

currentPositionOf

open fun currentPositionOf(node: Node<T>): P

distanceBetween

abstract fun distanceBetween(n1: Node<T>, n2: Node<T>): Double

open fun Node<T>.distanceTo(other: Node<T>): Double

farthestReachablePosition

open fun farthestReachablePosition(node: Node<T>, desired: P): P

abstract fun layerFor(molecule: Molecule): Layer<T, P>?

abstract fun makePosition(coordinates: DoubleArray): P

open fun makePosition(coordinates: List<Number>): P

abstract fun makePosition(vararg coordinates: Number): P

open fun Node<T>.moveBy(displacement: P)

open fun moveNodeBy(node: Node<T>, displacement: P)

abstract fun moveNodeTo(node: Node<T>, position: P)

open fun Node<T>.moveTo(position: P)

abstract fun neighborhoodOf(node: Node<T>): Observable<Neighborhood<T>>

abstract fun nodesAround(position: P, range: Double): List<Node<T>>

abstract fun nodesAround(node: Node<T>, range: Double): List<Node<T>>

open fun P.nodesInRange(range: Double): List<Node<T>>

open fun Node<T>.nodesInRange(range: Double): List<Node<T>>

abstract fun nodeWithId(id: Int): Node<T>

observeLayerValue

abstract fun observeLayerValue(molecule: Molecule, node: Node<T>): Observable<T?>

observeNodesAround

abstract fun observeNodesAround(position: P, range: Double): ObservableSet<Node<T>>

abstract fun observeNodesAround(node: Node<T>, range: Double): ObservableSet<Node<T>>

observeNodesInRange

open fun P.observeNodesInRange(range: Double): ObservableSet<Node<T>>

open fun Node<T>.observeNodesInRange(range: Double): ObservableSet<Node<T>>

abstract fun positionOf(node: Node<T>): Observable<P>

open fun Node<T>.remove()

open fun W.remove(): Boolean

open fun Reaction<T>.remove()

abstract fun removeNode(node: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean

abstract fun removeReaction(reaction: Reaction<T>)

shortestPathIntersectsObstacle

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

shortestPathToIntersectsObstacle

open fun P.shortestPathToIntersectsObstacle(other: P): Boolean

open fun DoubleArray.toPosition(): P