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

Explore

open class Explore<T, L : Euclidean2DConvexShape, R>(val action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownImpasseWeight: Double = DEFAULT_IMPASSE_WEIGHT) : NavigationStrategy<T, Euclidean2DPosition, Euclidean2DTransformation, L, R, ConvexPolygon, Euclidean2DPassage>

A NavigationStrategy allowing to explore the environment. In order to choose which direction to take, a weighting system is used: every time the pedestrian enters a new room all the visible doors are weighted, the one with minimum weight is then crossed. The weighting system used here is derived from the one by Andresen et al., see weight.

Parameters

T

the concentration type.

L

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

R

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

Inheritors

Constructors

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constructor(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, knownImpasseWeight: Double = DEFAULT_IMPASSE_WEIGHT)

Types

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object Companion

Properties

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

The NavigationAction used to navigate the environment.

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Functions

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open override fun inNewRoom(newRoom: ConvexPolygon)

This is called whenever the node enters a new room.

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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.