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

Pursue

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

A NavigationStrategy allowing to pursue a known (static) destination without knowing any path leading there, this is also known as path searching. In this context, knowing a destination means knowing its position, which, in turn, means knowing two things:

  • the direction that connects the destination and the current position as the crow flies,

  • an estimation of the distance between the destination and the current position. In order to reach the destination without a route to follow, the weighting system used in Explore is extended so as to take into account the (estimated) suitability of each door to reach the provided destination, see suitabilityFactor.

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>, destination: Euclidean2DPosition)

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.