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

GoalOrientedExploration

open class GoalOrientedExploration<T, L : Euclidean2DConvexShape, R>(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, unknownDestinations: List<Euclidean2DPosition>) : Explore<T, L, R>

Navigation strategy that explores the environment looking for unknown destination points. Unknown destinations are not known a priori but can be detected when they are inside a room adjacent to the node's current room. When detected, the node approaches the destination and stops.

Parameters

action

the navigation action driving this strategy.

unknownDestinations

list of static destinations that can be detected when in sight.

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

ReachDestination

Constructors

GoalOrientedExploration

constructor(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, unknownDestinations: 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 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.