alchemist/it.unibo.alchemist.model.cognitive.steering/TypeBased

TypeBased

class TypeBased<T>(environment: Euclidean2DEnvironment<T>, node: Node<T>, typeWeights: Map<KClass<SteeringAction<T, Euclidean2DPosition>>, Double>, defaultWeight: Double = 0.0) : Weighted<T>

A Weighted steering strategy assigning weights based on actions' types; the client provides a weight for each action KClass.

Parameters

environment

the environment in which the node moves.

node

the owner of the steering actions combined by this strategy.

typeWeights

the map of weights for each steering action KClass.

defaultWeight

fallback weight used when an action's type is not present in typeWeights.

Type Parameters

the concentration type.

Constructors

TypeBased

constructor(environment: Euclidean2DEnvironment<T>, node: Node<T>, typeWeights: Map<KClass<SteeringAction<T, Euclidean2DPosition>>, Double>, defaultWeight: Double = 0.0)

Functions

computeNextPosition

open override fun computeNextPosition(actions: List<SteeringAction<T, Euclidean2DPosition>>): Euclidean2DPosition

actions are partitioned in group steering actions and non-group steering actions. The overall next position for each of these two sets of actions is computed via weighted sum. The resulting vectors are then summed together (with unitary weight).

computeTarget

open override fun computeTarget(actions: List<SteeringAction<T, Euclidean2DPosition>>): Euclidean2DPosition

If there's no SteeringActionWithTarget among the provided actions, a zero vector is returned. Otherwise, the closest target is picked.