Package-level declarations

Pursue strategy allowing to dynamically change destination.

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.

A NavigationStrategy allowing to follow a given route. The route consists of a list of positions (= waypoints) that may or may not be in sight of each other (i.e. the path leading from a waypoint to the next one may or may not be representable as a single segment), for this reason Pursue behavior is used to reach each waypoint. In this context, a waypoint is considered reached when it's inside the current room (not when the node reach that exact position), apart from the last waypoint which is actually approached. Cuts to the route are allowed (i.e. if the node finds a waypoint which is farther than the expected next one, he/she skips all the waypoints in between).

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.

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:

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.

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.