it.unibo.alchemist.model.cognitive.NavigationStrategy.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.Position
import it.unibo.alchemist.model.geometry.ConvexShape
import it.unibo.alchemist.model.geometry.Transformation
import it.unibo.alchemist.model.geometry.Vector
/**
* 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].
*
* @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 NavigationStrategy
where P : Position, P : Vector
,
A : Transformation
,
L : ConvexShape,
N : ConvexShape {
/**
* The [NavigationAction] used to navigate the environment.
*/
val action: NavigationAction
/**
* The node's orienting capability.
*/
val orientingCapability get() = action.orientingProperty
/**
* This is called whenever the node enters a new room.
*/
fun inNewRoom(newRoom: 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.
*/
fun inUnexpectedNewRoom(previousRoom: N, expectedNewRoom: N, actualNewRoom: N) = inNewRoom(actualNewRoom)
}