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

ReachDestination

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

Navigation strategy that aims to reach a static destination.

The strategy mixes known-target routing (ReachKnownDestination) and exploratory goal-oriented behavior (GoalOrientedExploration). The pedestrian prefers the closest known destination for which a path exists, but will divert to any destination encountered along the way (either known or unknown).

Parameters

action

the navigation action driving this strategy.

knownDestinations

a list of known static destinations (may be empty).

unknownDestinations

optional unknown destinations to consider while exploring.

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.

Constructors

ReachDestination

constructor(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownDestinations: List<Euclidean2DPosition>, unknownDestinations: List<Euclidean2DPosition> = emptyList())

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.