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

GoalOrientedExploration

open class GoalOrientedExploration<T, L : Euclidean2DConvexShape, R>(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, unknownDestinations: List<Euclidean2DPosition>) : Explore<T, L, R>

A NavigationStrategy allowing to explore the environment looking for something specific whose position is unknown. The client can specify a list of unknownDestinations: these can be recognized once they're in sight, but the node doesn't know their position until that moment (think e.g. of exits in an evacuation scenario). More specifically, unknown destinations can be detected if located in a room adjacent to the room the node is into. Once a destination is detected, the node will reach it and stop.

Parameters

the concentration type.

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

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

Inheritors

ReachDestination

Constructors

GoalOrientedExploration

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

Properties

action

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

The NavigationAction used to navigate the environment.

orientingCapability

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

The node's orienting capability.

Functions

inNewRoom

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.