it.unibo.alchemist.model.cognitive.NavigationAction.kt Maven / Gradle / Ivy
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/*
* 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
import it.unibo.alchemist.model.Node
import it.unibo.alchemist.model.Node.Companion.asProperty
import it.unibo.alchemist.model.Position
import it.unibo.alchemist.model.environments.EnvironmentWithGraph
import it.unibo.alchemist.model.geometry.ConvexShape
import it.unibo.alchemist.model.geometry.Transformation
import it.unibo.alchemist.model.geometry.Vector
/**
* A [SteeringAction] allowing a node to navigate an environment consciously (e.g. without getting stuck in
* U-shaped obstacles). Names are inspired to indoor environments, but this interface works for outdoor ones as well.
*
* @param T the concentration type.
* @param P the [Position] type and [Vector] type for the space the node is into.
* @param A the transformations supported by the shapes in this space.
* @param L the type of landmarks of the node's cognitive map.
* @param R the type of edges of the node's cognitive map, representing the [R]elations between landmarks.
* @param N the type of nodes of the navigation graph provided by the [environment].
* @param E the type of edges of the navigation graph provided by the [environment].
*/
interface NavigationAction : SteeringAction
where P : Position, P : Vector
,
A : Transformation
,
L : ConvexShape,
N : ConvexShape {
/**
* The owner of this action.
*/
val navigatingNode: Node
/**
* The [navigatingNode]'s orientingProperty.
*/
val orientingProperty get() = navigatingNode.asProperty>()
/**
* The environment the [navigatingNode] is into.
*/
val environment: EnvironmentWithGraph<*, T, P, A, N, E>
/**
* The position of the [navigatingNode] in the [environment].
*/
val pedestrianPosition: P
/**
* The room (= environment's area) the [navigatingNode] is into.
*/
val currentRoom: N?
/**
* @returns the doors (= passages/edges) the node can perceive.
*/
fun doorsInSight(): List
/**
* Moves the node across the provided [door], which must be among [doorsInSight].
*/
fun crossDoor(door: E)
/**
* Moves the node to the given final [destination], which must be inside [currentRoom].
*/
fun moveToFinal(destination: P)
/**
* Stops moving the node.
*/
fun stop() = moveToFinal(pedestrianPosition)
}