Explore
open class Explore<T, L : Euclidean2DConvexShape, R>(val action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownImpasseWeight: Double = DEFAULT_IMPASSE_WEIGHT) : NavigationStrategy<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>
A NavigationStrategy allowing to explore the environment. In order to choose which direction to take, a weighting system is used: every time the pedestrian enters a new room all the visible doors are weighted, the one with minimum weight is then crossed. The weighting system used here is derived from the one by Andresen et al., see weight.
Type Parameters
T
the concentration type.
L
the landmark shape type used by the pedestrian's cognitive map.
R
the relation/edge type used by the pedestrian's cognitive map.
Inheritors
Constructors
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constructor(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownImpasseWeight: Double = DEFAULT_IMPASSE_WEIGHT)
Properties
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the navigation action driving this strategy.
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open val orientingCapability: OrientingProperty<T, Euclidean2DPosition, Euclidean2DTransformation, L, ConvexPolygon, Euclidean2DPassage>
The node's orienting capability.
Functions
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Called whenever the node enters a new room.
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open fun inUnexpectedNewRoom(previousRoom: ConvexPolygon, expectedNewRoom: ConvexPolygon, actualNewRoom: ConvexPolygon)
Called when the node ends up in an unexpected room while moving. By default, unexpected rooms are treated the same as expected ones.