CognitiveAgentGoalOrientedExplore

A CognitiveAgentNavigationAction2D using GoalOrientedExploration navigation strategy.

Parameters

T

the concentration type.

L

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

R

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

Constructors

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constructor(environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>, reaction: Reaction<T>, pedestrian: PedestrianProperty<T>, vararg unknownDestinations: Number)

Properties

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open override var currentRoom: ConvexPolygon?

The room (= environment's area) the navigatingNode is into, this is cached and updated every time update is called so as to avoid potentially costly re-computations.

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The position the node wants to reach.

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The environment the navigatingNode is into.

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open val maxWalk: Double

The maximum distance the node can walk, this is a length.

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open override val navigatingNode: Node<T>

The owner of this action.

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open lateinit override var pedestrianPosition: Euclidean2DPosition

The position of the navigatingNode in the environment, this is cached and updated every time update is called so as to avoid potentially costly re-computations.

Functions

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open override fun cloneAction(node: Node<T>, reaction: Reaction<T>): CognitiveAgentNavigationAction2D<T, L, R>

This method allows to clone this action on a new node. It may result useful to support runtime creation of nodes with the same reaction programming, e.g. for morphogenesis.

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open override fun crossDoor(door: Euclidean2DPassage)

Moves the node across the provided door, which must be among doorsInSight.

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open override fun doorsInSight(): List<Euclidean2DPassage>
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open override fun execute()
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override fun getContext(): Context
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@Nonnull
override fun getOutboundDependencies(): ListSet<out Dependency>
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open override fun moveToFinal(destination: Euclidean2DPosition)

Moves the node to the given final destination, which must be inside currentRoom.

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open override fun nextPosition(): Euclidean2DPosition

The position the owner of this action moves to when it is executed, in relative coordinates with respect to its current position.

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open fun stop()

Stops moving the node.

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open override fun toString(): String
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open fun update()

Updates the internal state but does not move the node.