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java.lang.Object cz.cuni.amis.pogamut.ut2004.agent.navigation.AbstractUT2004PathNavigator<PATH_ELEMENT> cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator<PATH_ELEMENT>
public class LoqueNavigator<PATH_ELEMENT extends ILocated>
Responsible for navigation to location.
This class navigates the agent along path. Silently handles all casual trouble with preparing next nodes, running along current nodes, switching between nodes at appropriate distances, etc. In other words, give me a destination and a path and you'll be there in no time.
LoqueRunner
beneath about possible troubles along the way.
Thus, we rely completely on navigation points. Since the mover navigation points (LiftCenter ones) always travel with the associated mover, we do not try to look for movers at all. We simply compare navigation point location to agent's location and wait or move accordingly.
Nested Class Summary | |
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static class |
LoqueNavigator.Stage
All stages the navigation can come to. |
Field Summary | |
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protected AdvancedLocomotion |
body
Agent's body. |
static int |
CLOSE_ENOUGH
Distance, which is considered as close enough.. |
protected java.util.logging.Logger |
log
Agent's log. |
protected UT2004Bot |
main
Agent's main. |
protected AgentInfo |
memory
Loque memory. |
Fields inherited from class cz.cuni.amis.pogamut.ut2004.agent.navigation.AbstractUT2004PathNavigator |
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bot, botWaiting, executor, self |
Constructor Summary | |
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LoqueNavigator(UT2004Bot bot,
IUT2004PathRunner runner,
java.util.logging.Logger log)
Constructor. |
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LoqueNavigator(UT2004Bot bot,
java.util.logging.Logger log)
Constructor. |
Method Summary | |
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protected NavPoint |
getNavPoint(ILocated location)
Returns NavPoint instance for a given location. |
protected void |
initDirectNavigation(Location dest)
Initializes direct navigation to the specified destination. |
protected void |
initPathNavigation(Location dest,
java.util.List<PATH_ELEMENT> path)
Initializes navigation to the specified destination along specified path. |
protected LoqueNavigator.Stage |
keepNavigating()
Navigates with the current navigation request. |
protected void |
navigate(ILocated focus,
int pathElementIndex)
Does the actual navigation of the bot, it should steer it towards path element of the index 'pathElementIndex'. |
void |
newPath(java.util.List<PATH_ELEMENT> path)
UT2004PathExecutor reports that new path has been received and the IUT2004PathNavigator#navigate()
is about to be called in near future. |
void |
reset()
UT2004PathExecutor reports that execution of current path has been terminated - clean up your internal data
structure and prepare to navigate the bot along the new path in the future. |
Methods inherited from class cz.cuni.amis.pogamut.ut2004.agent.navigation.AbstractUT2004PathNavigator |
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navigate, setBot, setBotWaiting, setExecutor |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public static final int CLOSE_ENOUGH
protected UT2004Bot main
protected AgentInfo memory
protected AdvancedLocomotion body
protected java.util.logging.Logger log
Constructor Detail |
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public LoqueNavigator(UT2004Bot bot, java.util.logging.Logger log)
main
- Agent's main.memory
- Loque memory.public LoqueNavigator(UT2004Bot bot, IUT2004PathRunner runner, java.util.logging.Logger log)
main
- Agent's main.memory
- Loque memory.Method Detail |
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protected void navigate(ILocated focus, int pathElementIndex)
AbstractUT2004PathNavigator
AbstractUT2004PathNavigator#navigate()
.
navigate
in class AbstractUT2004PathNavigator<PATH_ELEMENT extends ILocated>
public void reset()
IUT2004PathNavigator
UT2004PathExecutor
reports that execution of current path has been terminated - clean up your internal data
structure and prepare to navigate the bot along the new path in the future.
public void newPath(java.util.List<PATH_ELEMENT> path)
IUT2004PathNavigator
UT2004PathExecutor
reports that new path has been received and the IUT2004PathNavigator#navigate()
is about to be called in near future. The new path is passed as a parameter.
protected void initDirectNavigation(Location dest)
dest
- Destination of the navigation.timeout
- Maximum timeout of the navigation. Use 0 to auto-timeout.protected void initPathNavigation(Location dest, java.util.List<PATH_ELEMENT> path)
dest
- Destination of the navigation.path
- Navigation path to the destination.protected LoqueNavigator.Stage keepNavigating()
protected NavPoint getNavPoint(ILocated location)
NavPoint
instance for a given location. If there is no navpoint in the vicinity of CLOSE_ENOUGH
null is returned.
location
-
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