alchemist/it.unibo.alchemist.model.cognitive.actions/CognitiveAgentNavigationAction2D

CognitiveAgentNavigationAction2D

open class CognitiveAgentNavigationAction2D<T, L : Euclidean2DConvexShape, R>(val environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>, reaction: Reaction<T>, pedestrian: PedestrianProperty<T>, wallRepulsionFactor: Double = DEFAULT_WALL_REPULSION_FACTOR) : AbstractNavigationAction<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>

Implementation of a NavigationAction2D. This action accepts an Euclidean2DEnvironmentWithGraph whose graph contains ConvexPolygonal nodes and Euclidean2DPassages as edges.

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.

Inheritors

CognitiveAgentExplore

CognitiveAgentFollowRoute

CognitiveAgentGoalOrientedExplore

CognitiveAgentPursue

CognitiveAgentReachDestination

CognitiveAgentReachKnownDestination

Constructors

CognitiveAgentNavigationAction2D

constructor(environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>, reaction: Reaction<T>, pedestrian: PedestrianProperty<T>, wallRepulsionFactor: Double = DEFAULT_WALL_REPULSION_FACTOR)

Types

object Companion

Contains the default constants.

Properties

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.

desiredPosition

val desiredPosition: Euclidean2DPosition

The position the node wants to reach.

open override val environment: Euclidean2DEnvironmentWithGraph<*, T, ConvexPolygon, Euclidean2DPassage>

The environment the navigatingNode is into.

open val maxWalk: Double

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

open override val navigatingNode: Node<T>

The owner of this action.

orientingProperty

open val orientingProperty: OrientingProperty<T, Euclidean2DPosition, Euclidean2DTransformation, L, ConvexPolygon, Euclidean2DPassage>

The navigatingNode's orientingProperty.

pedestrianPosition

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

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.

open override fun crossDoor(door: Euclidean2DPassage)

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

open override fun doorsInSight(): List<Euclidean2DPassage>

open override fun execute()

override fun getContext(): Context

getNextPosition

open override fun getNextPosition(): Euclidean2DPosition

getOutboundDependencies

@Nonnull

override fun getOutboundDependencies(): ListSet<out Dependency>

open override fun moveToFinal(destination: Euclidean2DPosition)

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

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.

open fun stop()

Stops moving the node.

open override fun toString(): String

open fun update()

Updates the internal state but does not move the node.