cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric
Class EmohawkNavigation

java.lang.Object
  cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.EmohawkNavigation

public class EmohawkNavigation
extends Object

Facade for navigation in UT2004. Method navigate() can be called both synchronously and asynchronously. Uses IUT2004PathExecutor, FloydWarshallMap, IUT2004RunStraight and IUT2004GetBackToNavGraph to handle all possible navigation cases.

Author:

knight, jimmy

Field Summary

protected static int	ARRIVED_AT_LOCATION_XY_THRESHOLD Location threshold for checking whether we have arrived on target.
protected static int	ARRIVED_AT_LOCATION_Z_THRESHOLD Location threshold for checking whether we have arrived on target.
static double	AT_LOCATION We're managed to get to location
static double	AT_PLAYER We're managed to get to player
protected cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot	bot UT2004Bot reference.
protected cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture	currentFuturePath Current path stored in IPathFuture object.
protected cz.cuni.amis.pogamut.base3d.worldview.object.ILocated	currentTarget Current location target.
protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player	currentTargetPlayer Current target is player (if not null)
protected cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEventListener<cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.EndMessage>	endMessageListener
protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint	fromNavPoint Navpoint we're running from (initial position when path executor has been triggered)
protected cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap	fwMap FloydWarshallMap that is used for path planning.
protected cz.cuni.amis.pogamut.base3d.worldview.object.ILocated	lastTarget Last location target.
protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player	lastTargetPlayer Last location target.
protected cz.cuni.amis.pogamut.base.utils.logging.LogCategory	log Log used by this class.
protected boolean	navigating Whether navigation is running.
protected static int	NEW_PATH_DISTANCE_THRESHOLD Location threshold for requesting of a new path or switching a path.
protected static double	PLAYER_DISTANCE_TRASHOLD When PLAYER is further from currentTarget than this location, recompute the path
protected boolean	runningStraightToPlayer We're running straight to the player.
protected cz.cuni.amis.pogamut.base3d.worldview.object.Location	runningStraightToPlayerFailedAt Where run-straight failed.
protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint	toNavPoint Navpoint we're running to, nearest navpoint to currentTarget

Constructor Summary

EmohawkNavigation(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot, Steering steering, cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap fwMap)
Here you may specify any custom UT2004Navigation parts.

Method Summary

List<cz.cuni.amis.pogamut.base3d.worldview.object.ILocated>	getCurrentPathCopy()
List<cz.cuni.amis.pogamut.base3d.worldview.object.ILocated>	getCurrentPathDirect()
cz.cuni.amis.pogamut.base3d.worldview.object.ILocated	getCurrentTarget()
cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint	getCurrentTargetNavPoint()
cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player	getCurrentTargetPlayer()
cz.cuni.amis.pogamut.base3d.worldview.object.ILocated	getLastTarget()
cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint	getLastTargetNavPoint()
cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint	getLastTargetPlayer()
cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint	getNearestNavPoint(cz.cuni.amis.pogamut.base3d.worldview.object.ILocated location)
boolean	isNavigating()
protected void	navigate()
void	navigate(cz.cuni.amis.pogamut.base3d.worldview.object.ILocated target)
void	navigate(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player player)
protected void	processPathFuture(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture futurePath) Checks if last path element is in close distance from our desired target and if not, we will add our desired target as the last path element.
protected void	reset(boolean stopGetBackToNavGraph)
void	setFocus(cz.cuni.amis.pogamut.base3d.worldview.object.ILocated located)
protected void	startNavigate()
void	stopNavigation()

Methods inherited from class java.lang.Object

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

Field Detail

NEW_PATH_DISTANCE_THRESHOLD

protected static final int NEW_PATH_DISTANCE_THRESHOLD

Location threshold for requesting of a new path or switching a path.

See Also:

Constant Field Values

ARRIVED_AT_LOCATION_XY_THRESHOLD

protected static final int ARRIVED_AT_LOCATION_XY_THRESHOLD

Location threshold for checking whether we have arrived on target. For XY - 2D plane distance

See Also:

Constant Field Values

ARRIVED_AT_LOCATION_Z_THRESHOLD

protected static final int ARRIVED_AT_LOCATION_Z_THRESHOLD

Location threshold for checking whether we have arrived on target. For Z distance.

See Also:

Constant Field Values

PLAYER_DISTANCE_TRASHOLD

protected static final double PLAYER_DISTANCE_TRASHOLD

When PLAYER is further from currentTarget than this location, recompute the path

See Also:

Constant Field Values

AT_PLAYER

public static final double AT_PLAYER

We're managed to get to player

See Also:

Constant Field Values

AT_LOCATION

public static final double AT_LOCATION

We're managed to get to location

See Also:

Constant Field Values

log

protected cz.cuni.amis.pogamut.base.utils.logging.LogCategory log

Log used by this class.

fwMap

protected cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap fwMap

FloydWarshallMap that is used for path planning.

bot

protected cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot

UT2004Bot reference.

endMessageListener

protected cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEventListener<cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.EndMessage> endMessageListener

lastTarget

protected cz.cuni.amis.pogamut.base3d.worldview.object.ILocated lastTarget

Last location target.

lastTargetPlayer

protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player lastTargetPlayer

Last location target.

currentTarget

protected cz.cuni.amis.pogamut.base3d.worldview.object.ILocated currentTarget

Current location target.

currentTargetPlayer

protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player currentTargetPlayer

Current target is player (if not null)

fromNavPoint

protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint fromNavPoint

Navpoint we're running from (initial position when path executor has been triggered)

toNavPoint

protected cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint toNavPoint

Navpoint we're running to, nearest navpoint to currentTarget

currentFuturePath

protected cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture currentFuturePath

Current path stored in IPathFuture object.

navigating

protected boolean navigating

Whether navigation is running.

runningStraightToPlayer

protected boolean runningStraightToPlayer

We're running straight to the player.

runningStraightToPlayerFailedAt

protected cz.cuni.amis.pogamut.base3d.worldview.object.Location runningStraightToPlayerFailedAt

Where run-straight failed.

Constructor Detail

EmohawkNavigation

public EmohawkNavigation(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot,
                         Steering steering,
                         cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap fwMap)

Here you may specify any custom UT2004Navigation parts.

Parameters:

bot -

ut2004PathExecutor -

fwMap -

getBackOnPath -

runStraight -

Method Detail

isNavigating

public boolean isNavigating()

setFocus

public void setFocus(cz.cuni.amis.pogamut.base3d.worldview.object.ILocated located)

stopNavigation

public void stopNavigation()

navigate

public void navigate(cz.cuni.amis.pogamut.base3d.worldview.object.ILocated target)

navigate

public void navigate(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player player)

getNearestNavPoint

public cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint getNearestNavPoint(cz.cuni.amis.pogamut.base3d.worldview.object.ILocated location)

getCurrentPathCopy

public List<cz.cuni.amis.pogamut.base3d.worldview.object.ILocated> getCurrentPathCopy()

getCurrentPathDirect

public List<cz.cuni.amis.pogamut.base3d.worldview.object.ILocated> getCurrentPathDirect()

getCurrentTarget

public cz.cuni.amis.pogamut.base3d.worldview.object.ILocated getCurrentTarget()

getCurrentTargetPlayer

public cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player getCurrentTargetPlayer()

getCurrentTargetNavPoint

public cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint getCurrentTargetNavPoint()

getLastTarget

public cz.cuni.amis.pogamut.base3d.worldview.object.ILocated getLastTarget()

getLastTargetPlayer

public cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint getLastTargetPlayer()

getLastTargetNavPoint

public cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint getLastTargetNavPoint()

startNavigate

protected void startNavigate()

navigate

protected void navigate()

processPathFuture

protected void processPathFuture(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture futurePath)

Checks if last path element is in close distance from our desired target and if not, we will add our desired target as the last path element.

Parameters:

futurePath -

reset

protected void reset(boolean stopGetBackToNavGraph)