36.0.11

alchemist-euclidean-geometry/it.unibo.alchemist.model.environments/EnvironmentWithGraph

EnvironmentWithGraph

interface EnvironmentWithGraph<W : Obstacle<P>, T, P : Position<P>, Vector<P>, A : Transformation<P>, N : ConvexShape<P, A>, E> : EnvironmentWithObstacles<W, T, P> (source)

An EnvironmentWithObstacles providing a NavigationGraph. This is a graph whose nodes are ConvexShapes representing areas of the environment traversable by agents (namely, walkable areas), whereas edges represent connections between these areas. For instance, in an indoor environment, nodes should represent rooms and corridors, whereas edges should represent doors and passages. This data structure is also known as navigation mesh.

Inheritors

Euclidean2DEnvironmentWithGraph

Properties

abstract val graph: NavigationGraph<P, A, N, E>

The navigation graph.

abstract val obstacles: List<W>

open val origin: P

Functions

addGlobalReaction

abstract fun addGlobalReaction(p0: GlobalReaction<T>)

abstract fun addLayer(p0: Molecule, p1: Layer<T, P>)

abstract fun addNode(p0: Node<T>, p1: P): Boolean

abstract fun addObstacle(obstacle: W)

abstract fun addTerminator(p0: Predicate<Environment<T, P>>)

abstract fun getDimensions(): Int

getDistanceBetweenNodes

abstract fun getDistanceBetweenNodes(p0: Node<T>, p1: Node<T>): Double

getGlobalReactions

abstract fun getGlobalReactions(): ListSet<GlobalReaction<T>>

@Nonnull

abstract fun getIncarnation(): Incarnation<T, P>

abstract fun getLayer(p0: Molecule): Optional<Layer<T, P>>

abstract fun getLayers(): ListSet<Layer<T, P>>

abstract fun getLinkingRule(): LinkingRule<T, P>

getNeighborhood

abstract fun getNeighborhood(p0: Node<T>): Neighborhood<T>

abstract fun getNodeByID(p0: Int): Node<T>

abstract fun getNodeCount(): Int

abstract fun getNodes(): ListSet<Node<T>>

getNodesWithinRange

abstract fun getNodesWithinRange(p0: P, p1: Double): ListSet<Node<T>>

abstract fun getNodesWithinRange(p0: Node<T>, p1: Double): ListSet<Node<T>>

abstract fun getOffset(): DoubleArray

@Nonnull

abstract fun getPosition(p0: Node<T>): P

abstract fun getSimulation(): Simulation<T, P>

abstract fun getSize(): DoubleArray

getSizeInDistanceUnits

abstract fun getSizeInDistanceUnits(): DoubleArray

intersectsObstacle

abstract fun intersectsObstacle(start: P, end: P): Boolean

abstract fun isTerminated(): Boolean

abstract operator override fun iterator(): MutableIterator<Node<T>>

abstract fun makePosition(vararg p0: Number): P

abstract fun makePosition(vararg coordinates: Double): P

open fun moveNode(node: Node<T>, direction: P)

moveNodeToPosition

@Nonnull

abstract fun moveNodeToPosition(@Nonnull p0: Node<T>, @Nonnull p1: P)

abstract fun next(current: P, desired: P): P

removeGlobalReaction

abstract fun removeGlobalReaction(p0: GlobalReaction<T>)

abstract fun removeNode(p0: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean

abstract fun setLinkingRule(p0: LinkingRule<T, P>)

abstract fun setSimulation(p0: Simulation<T, P>)