cz.cuni.amis.pogamut.udk.agent.navigation.martinnavigator
Class MartinNavigator<PATH_ELEMENT extends ILocated>

java.lang.Object
  cz.cuni.amis.pogamut.udk.agent.navigation.AbstractUDKPathNavigator<PATH_ELEMENT>
      cz.cuni.amis.pogamut.udk.agent.navigation.martinnavigator.MartinNavigator<PATH_ELEMENT>

All Implemented Interfaces:

IUDKPathNavigator<PATH_ELEMENT>

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

Responsible for navigation to location.

Author:

Jimmy

Nested Class Summary

static class

MartinNavigator.Stage All stages the navigation can come to.

Field Summary

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

MartinNavigator(UDKBot bot, IUDKPathRunner runner, Logger log)
Constructor.

MartinNavigator(UDKBot bot, Logger log)
Constructor.

Method Summary

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 boolean	initAlongPath(Location dest, List<PATH_ELEMENT> path) Initializes navigation along path.
protected MartinNavigator.Stage	initDirectly(Location dest) Initializes direct navigation to given destination.
protected void	initDirectNavigation(Location dest) Initializes direct navigation to the specified destination.
protected void	initPathNavigation(Location destination, List<PATH_ELEMENT> path) Initializes navigation to the specified destination along specified path.
protected MartinNavigator.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

MartinNavigator

public MartinNavigator(UDKBot bot,
                       Logger log)

Constructor.

Parameters:

main - Agent's main.

memory - Loque memory.

MartinNavigator

public MartinNavigator(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.

initPathNavigation

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

Initializes navigation to the specified destination along specified path.

Parameters:

destination - Destination of the navigation.

path - Navigation path to the destination.

initAlongPath

protected boolean initAlongPath(Location dest,
                                List<PATH_ELEMENT> path)

Initializes navigation along path.

Parameters:

dest - Destination of the navigation.

path - Path of the navigation.

Returns:

True, if the navigation is successfuly initialized.

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.

initDirectly

protected MartinNavigator.Stage initDirectly(Location dest)

Initializes direct navigation to given destination.

Parameters:

dest - Destination of the navigation.

Returns:

Next stage of the navigation progress.

keepNavigating

protected MartinNavigator.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: