cz.cuni.amis.pogamut.udk.agent.navigation.loquenavigator

Class LoqueNavigator<PATH_ELEMENT extends ILocated>

java.lang.Object

cz.cuni.amis.pogamut.udk.agent.navigation.AbstractUDKPathNavigator<PATH_ELEMENT>

cz.cuni.amis.pogamut.udk.agent.navigation.loquenavigator.LoqueNavigator<PATH_ELEMENT>

All Implemented Interfaces:

IUDKPathNavigator<PATH_ELEMENT>

public class LoqueNavigator<PATH_ELEMENT extends ILocated>
extends AbstractUDKPathNavigator<PATH_ELEMENT>

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.

Preparing ahead

Nodes in the path are being prepared ahead, even before they are actually needed. The agent decides ahead, looks at the next nodes while still running to current ones, etc.

Reachability checks

Whenever the agent switches to the next node, reachcheck request is made to the engine. The navigation routine then informs the LoqueRunner beneath about possible troubles along the way.

Movers

This class was originally supposed to contain handy (and fully working) navigation routines, including safe navigation along movers. However, the pogamut platform is not quite ready for movers yet. Especial when it comes to mover frames and correct mover links.

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.

Future

The bot could check from time to time, whether the target destination he is traveling to is not an empty pickup spot, since the memory is now capable of reporting empty pickups, when they are visible. The only pitfall to this is the way the agent might get trapped between two not-so-far-away items, each of them empty. The more players playe the same map, the bigger is the chance of pickup emptyness. The agent should implement a fadeing memory of which items are empty before this can be put safely into logic.

Author:

Juraj Simlovic [jsimlo@matfyz.cz], Jimmy

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	LoqueNavigator.Stage All stages the navigation can come to.

Field Summary

Fields

Modifier and Type	Field and Description
protected AdvancedLocomotion	body Agent's body.
static int	CLOSE_ENOUGH Distance, which is considered as close enough..
protected Logger	log Agent's log.
protected UDKBot	main Agent's main.
protected AgentInfo	memory Loque memory.
static int	PRECISION

Fields inherited from class cz.cuni.amis.pogamut.udk.agent.navigation.AbstractUDKPathNavigator

bot, executor, self

Constructor Summary

Constructors

Constructor and Description
LoqueNavigator(UDKBot bot, IUDKPathRunner runner, Logger log) Constructor.
LoqueNavigator(UDKBot bot, Logger log) Constructor.

Method Summary

Methods

Modifier and Type	Method and Description
protected NavPoint	getNavPoint(ILocated location) Returns NavPoint instance for a given location.
double	getPrecision() Returns maximum distance, that the bot will have from path target, if the navigator succeeds.
protected void	initDirectNavigation(Location dest) Initializes direct navigation to the specified destination.
protected void	initPathNavigation(Location dest, 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(int pathElementIndex) Does the actual navigation of the bot, it should steer it towards path element of the index 'pathElementIndex'.
void	newPath(List<PATH_ELEMENT> path) UDKPathExecutor reports that new path has been received and the IUDKPathNavigator.navigate() is about to be called in near future.
void	reset() UDKPathExecutor 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.udk.agent.navigation.AbstractUDKPathNavigator

navigate, setBot, setExecutor

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

CLOSE_ENOUGH

public static final int CLOSE_ENOUGH

Distance, which is considered as close enough..

See Also:

Constant Field Values

PRECISION

public static final int PRECISION

See Also:

Constant Field Values

main

protected UDKBot main

Agent's main.

memory

protected AgentInfo memory

Loque memory.

body

protected AdvancedLocomotion body

Agent's body.

log

protected Logger log

Agent's log.

Constructor Detail

LoqueNavigator

public LoqueNavigator(UDKBot bot,
              Logger log)

Constructor.

Parameters:

main - Agent's main.

memory - Loque memory.

LoqueNavigator

public LoqueNavigator(UDKBot bot,
              IUDKPathRunner runner,
              Logger log)

Constructor.

Parameters:

main - Agent's main.

memory - Loque memory.

Method Detail

getPrecision

public double getPrecision()

Description copied from interface: IUDKPathNavigator

Returns maximum distance, that the bot will have from path target, if the navigator succeeds. This is primarily designed for checking for some less obvious failures in path execution.

Returns:

navigate

protected void navigate(int pathElementIndex)

Description copied from class: AbstractUDKPathNavigator

Does the actual navigation of the bot, it should steer it towards path element of the index 'pathElementIndex'. Called (after several checks) from AbstractUDKPathNavigator.navigate().

Specified by:

navigate in class AbstractUDKPathNavigator<PATH_ELEMENT extends ILocated>

reset

public void reset()

Description copied from interface: IUDKPathNavigator

UDKPathExecutor 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.

newPath

public void newPath(List<PATH_ELEMENT> path)

Description copied from interface: IUDKPathNavigator

UDKPathExecutor reports that new path has been received and the IUDKPathNavigator.navigate() is about to be called in near future. The new path is passed as a parameter.

initDirectNavigation

protected void initDirectNavigation(Location dest)

Initializes direct navigation to the specified destination.

Parameters:

dest - Destination of the navigation.

timeout - Maximum timeout of the navigation. Use 0 to auto-timeout.

initPathNavigation

protected void initPathNavigation(Location dest,
                      List<PATH_ELEMENT> path)

Initializes navigation to the specified destination along specified path.

Parameters:

dest - Destination of the navigation.

path - Navigation path to the destination.

keepNavigating

protected LoqueNavigator.Stage keepNavigating()

Navigates with the current navigation request.

Returns:

Stage of the navigation progress.

getNavPoint

protected NavPoint getNavPoint(ILocated location)

Returns NavPoint instance for a given location. If there is no navpoint in the vicinity of CLOSE_ENOUGH null is returned.

Parameters:

location -

Returns: