alchemist/it.unibo.alchemist.model.cognitive/NavigationStrategy

NavigationStrategy

interface NavigationStrategy<T, P : Position<P>, Vector<P>, A : Transformation<P>, L : ConvexShape<P, A>, R, N : ConvexShape<P, A>, E>

Defines what a node should do when in a new room (= environment's area), this is designed to be used jointly with a NavigationAction: the latter defines how to properly move the node, while delegating the decision on where to move it to a NavigationStrategy.

Parameters

T

the concentration type.

P

the Position type and Vector type for the space the node is into.

A

the transformations supported by the shapes in this space.

L

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

R

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

N

the type of nodes of the navigation graph provided by the environment.

E

the type of edges of the navigation graph provided by the environment.

Inheritors

Properties

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abstract val action: NavigationAction<T, P, A, L, R, N, E>

The NavigationAction used to navigate the environment.

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open val orientingCapability: OrientingProperty<T, P, A, L, N, E>

The node's orienting capability.

Functions

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abstract fun inNewRoom(newRoom: N)

This is called whenever the node enters a new room.

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open fun inUnexpectedNewRoom(previousRoom: N, expectedNewRoom: N, actualNewRoom: N)

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.