1 package cz.cuni.amis.pogamut.ut2004.agent.navigation;
2
3 import java.util.logging.Level;
4
5 import cz.cuni.amis.pogamut.base.agent.navigation.IStuckDetector;
6 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
7 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
8
9 /**
10 * This class is meant to provide easy "get-back-to-navigation-graph-in-order-I-can-safely-navigate-through-map"
11 * implementation.
12 *
13 * @author Jimmy
14 */
15 public interface IUT2004GetBackToNavGraph {
16
17 /**
18 * Returns nearest {@link NavPoint} to current bot's location.
19 *
20 * @return
21 */
22 public NavPoint getNearestNavPoint();
23
24 /**
25 * Whether the bot is currently on some {@link NavPoint}.
26 */
27 public boolean isOnNavGraph();
28
29 /**
30 * Whether the class is executing (== working == trying to get the bot back on NavGraph == to make {@link UT2004GetBackToNavGraph#isOnNavGraph()} true).
31 * @return
32 */
33 public boolean isExecuting();
34
35 /**
36 * Sets focus of the bot when navigating (when using this object to run to some location target)!
37 * To reset focus call this method with null parameter.
38 *
39 * @param located
40 */
41 public void setFocus(ILocated located);
42
43 /**
44 * Start the class, let it take the bot back to navigation graph.
45 */
46 public void backToNavGraph();
47 /**
48 * Stop the class.
49 */
50 public void stop();
51
52 /**
53 * Adds another stuck detector to be used for stuck detection :)
54 * @param stuckDetector
55 */
56 public void addStuckDetector(IStuckDetector stuckDetector);
57
58 /**
59 * Removes stuck detector.
60 * @param stuckDetector
61 */
62 public void removeStuckDetector(IStuckDetector stuckDetector);
63
64 /**
65 * Removes ALL stuck detectors.
66 */
67 public void clearStuckDetectors();
68
69 }