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

ReachKnownDestination

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

A NavigationStrategy allowing to reach a known (static) destination (see Pursue). The client can specify a list of known destinations, the pedestrian will try to reach the closest one for which a valid path leading there is known. The difference between this behavior and Pursue is that the latter assumes no route leading to the destination is known, whereas this behavior tries to exploit the pedestrian's cognitive map to obtain a route to follow.

Parameters

action

the navigation action driving this strategy.

destinations

list of known destinations (must not be empty).

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

ReachKnownDestination

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