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

ReachDestination

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

A NavigationStrategy allowing to reach a (static) destination. The client can specify a list of knownDestinations (see Pursue) and unknownDestinations (see GoalOrientedExploration). The pedestrian will try to reach the closest known destination for which a valid path leading there is known, but in case another destination is found along the way (either known or unknown), the latter will be approached instead of the chosen known destination. To put it in another way, this behavior mixes ReachKnownDestination and GoalOrientedExploration.

Parameters

the concentration type.

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

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

Constructors

ReachDestination

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

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.