37.0.1

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

abstract val dimensions: Int

globalReactions

abstract val globalReactions: ListSet<GlobalReaction<T>>

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

The navigation graph.

abstract val incarnation: Incarnation<T, P>

abstract val isTerminated: Boolean

abstract val layers: ListSet<Layer<T, P>>

abstract var linkingRule: LinkingRule<T, P>

abstract val nodeCount: Int

abstract val nodes: ListSet<Node<T>>

abstract val obstacles: List<W>

abstract val offset: DoubleArray

open val origin: P

abstract var simulation: Simulation<T, P>

simulationOrNull

abstract val simulationOrNull: Simulation<T, P>?

abstract val size: DoubleArray

sizeInDistanceUnits

abstract val sizeInDistanceUnits: DoubleArray

Functions

addGlobalReaction

abstract fun addGlobalReaction(reaction: GlobalReaction<T>)

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 addTerminator(terminator: TerminationPredicate<T, P>)

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

getDistanceBetweenNodes

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

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

getNeighborhood

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

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

getNodesWithinRange

abstract fun getNodesWithinRange(position: P, range: Double): ListSet<Node<T>>

abstract fun getNodesWithinRange(node: Node<T>, range: Double): ListSet<Node<T>>

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

intersectsObstacle

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

abstract operator fun iterator(): Iterator<Node<T>>

abstract fun makePosition(vararg coordinates: Number): P

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

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

moveNodeToPosition

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

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

removeGlobalReaction

abstract fun removeGlobalReaction(reaction: GlobalReaction<T>)

abstract fun removeNode(node: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean