alchemist/it.unibo.alchemist.model.cognitive.navigation/FollowRoute

FollowRoute

open class FollowRoute<T, L : Euclidean2DConvexShape, R>(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, route: List<Euclidean2DPosition>) : DynamicallyPursue<T, L, R>

A NavigationStrategy that follows a predefined route composed of waypoints. Each waypoint is considered reached when the pedestrian is inside the waypoint's room (except for the final waypoint, which is actually approached). The strategy uses Pursue to reach each intermediate waypoint and allows skipping intermediate waypoints when a farther waypoint becomes available.

Parameters

action

the navigation action driving this strategy.

Type Parameters

T

the concentration type.

L

the landmark shape type used by the node's cognitive map.

R

the relation/edge type used by the node's cognitive map.

Inheritors

ReachKnownDestination

Constructors

constructor(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, route: List<Euclidean2DPosition>)

Properties

open override val action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>

the navigation action driving this strategy.

orientingCapability

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

The node's orienting capability.

Functions

open override fun inNewRoom(newRoom: ConvexPolygon)

Called whenever the node enters a new room.

inUnexpectedNewRoom

open override fun inUnexpectedNewRoom(previousRoom: ConvexPolygon, expectedNewRoom: ConvexPolygon, actualNewRoom: ConvexPolygon)

When in an unexpected room the node gets back to previousRoom to continue following the route correctly.

fun setDestination(newDestination: Euclidean2DPosition, voidVolatileMemory: Boolean = false)

Changes the destination of the strategy. If voidVolatileMemory is true, the node's volatile memory is reset to zero while preserving known impasses.