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

ReachKnownDestination

open class ReachKnownDestination<T, L : Euclidean2DConvexShape, R>(action: NavigationAction2D<T, L, R, ConvexPolygon, Euclidean2DPassage>, destinations: List<Euclidean2DPosition>) : FollowRoute<T, L, R>

A NavigationStrategy allowing to reach a known (static) destination (see Pursue). The client can specify a list of known destinations, the pedestrian will try to reach the closest one for which a valid path leading there is known. The difference between this behavior and Pursue is that the latter assumes no route leading to the destination is known, whereas this behavior tries to exploit the pedestrian's cognitive map to obtain a route to follow.

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

ReachKnownDestination

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

Properties

action

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

The NavigationAction used to navigate the environment.

destination

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

inNewRoom

open override fun inNewRoom(newRoom: ConvexPolygon)

This is called whenever the node enters a new room.

inUnexpectedNewRoom

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

When in an unexpected room the node gets back to previousRoom to continue following the route correctly.

setDestination

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: