alchemist/it.unibo.alchemist.model.cognitive/NavigationStrategy

NavigationStrategy

interface NavigationStrategy<T, P : Position<P>, Vector<P>, A : Transformation<P>, L : ConvexShape<P, A>, R, N : ConvexShape<P, A>, E>

Defines what a node should do when it enters a new room (an area of the environment).

This interface is intended to be used together with a NavigationAction: the action provides movement primitives (how to move), while the strategy decides where to move.

Type Parameters

the concentration type.

the Position and Vector type used by the environment.

the transformation type supported by shapes in the environment.

the type of landmarks in the node's cognitive map.

the type of edges in the node's cognitive map, representing relations between landmarks.

the type of navigation-area shapes provided by the environment.

the type of edges of the navigation graph provided by the environment.

Inheritors

Explore

Properties

action

abstract val action: NavigationAction<T, P, A, L, R, N, E>

The NavigationAction used to navigate the environment.

orientingCapability

open val orientingCapability: OrientingProperty<T, P, A, L, N, E>

The node's orienting capability.

Functions

inNewRoom

abstract fun inNewRoom(newRoom: N)

Called whenever the node enters a new room.

inUnexpectedNewRoom

open fun inUnexpectedNewRoom(previousRoom: N, expectedNewRoom: N, actualNewRoom: N)

Called when the node ends up in an unexpected room while moving. By default, unexpected rooms are treated the same as expected ones.