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

Pursue

open class Pursue<T, L : Euclidean2DConvexShape, R>(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, destination: Euclidean2DPosition) : Explore<T, L, R>

A NavigationStrategy that pursues a known static destination without a predefined route (also known as path searching).

Knowing a destination provides the straight-line direction and a distance estimate. To reach the destination the weighting system from Explore is extended with a suitability factor that estimates how appropriate each visible door is to reach the destination (see suitabilityFactor and computeDoorsRankings).

Parameters

action

the navigation action that provides perception (visible doors, current room) and movement helpers used by this strategy.

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.

Inheritors

DynamicallyPursue

Constructors

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