it.unibo.alchemist.model.cognitive.navigation.ReachDestination.kt Maven / Gradle / Ivy
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Abstraction for group of pedestrians capable of influence each other emotionally.
/*
* Copyright (C) 2010-2023, Danilo Pianini and contributors
* listed, for each module, in the respective subproject's build.gradle.kts file.
*
* This file is part of Alchemist, and is distributed under the terms of the
* GNU General Public License, with a linking exception,
* as described in the file LICENSE in the Alchemist distribution's top directory.
*/
package it.unibo.alchemist.model.cognitive.navigation
import it.unibo.alchemist.model.cognitive.NavigationStrategy
import it.unibo.alchemist.model.cognitive.actions.NavigationAction2D
import it.unibo.alchemist.model.geometry.ConvexPolygon
import it.unibo.alchemist.model.geometry.Euclidean2DConvexShape
import it.unibo.alchemist.model.geometry.navigationgraph.Euclidean2DPassage
import it.unibo.alchemist.model.positions.Euclidean2DPosition
/**
* 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].
*
* @param T the concentration type.
* @param L the type of landmarks of the pedestrian's cognitive map.
* @param R the type of edges of the pedestrian's cognitive map, representing the [R]elations between landmarks.
*/
open class ReachDestination(
action: NavigationAction2D,
/**
* Known destinations, can be empty.
*/
private val knownDestinations: List,
/**
* Unknown destinations, defaults to an empty list.
*/
private val unknownDestinations: List = emptyList(),
) : GoalOrientedExploration(
action,
/*
* This may seem strange, but as stated above if we found a destination along the way (either known
* or unknown), we want to approach it and leave the route we're following.
*/
knownDestinations + unknownDestinations,
) {
private val reachKnownDestination: ReachKnownDestination? =
knownDestinations.takeIf { it.isNotEmpty() }?.let { ReachKnownDestination(action, it) }
override fun inNewRoom(newRoom: ConvexPolygon) = when (reachKnownDestination) {
null -> super.inNewRoom(newRoom)
else -> reachUnknownDestination(newRoom, orElse = { reachKnownDestination.inNewRoom(newRoom) })
}
}