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

DynamicallyPursue

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

Pursue strategy allowing to dynamically change destination.

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

Constructors

DynamicallyPursue

constructor(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, destination: Euclidean2DPosition)

Properties

open override val action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>

The NavigationAction used to navigate the environment.

protected open override var destination: Euclidean2DPosition

The destination to pursue.

orientingCapability

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

The node's orienting capability.

Functions

open override fun inNewRoom(newRoom: ConvexPolygon)

This is called whenever the node enters a new room.

inUnexpectedNewRoom

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

This is called in place of inNewRoom when the node ends up in an unexpected room while moving. By default, unexpected rooms are treated just like expected ones.

fun setDestination(newDestination: Euclidean2DPosition, voidVolatileMemory: Boolean = false)

Changes the destination of the strategy. If voidVolatileMemory is true, the node's volatile memory is set to zero. This has two effects: