1 package cz.cuni.amis.pogamut.ut2004.agent.navigation.timeoutestimator;
2
3 import java.util.List;
4
5 import cz.cuni.amis.pogamut.base.agent.navigation.IPathExecutionEstimator;
6 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
7 import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
8
9 public class UT2004BasicTimeoutEstimator<PATH_ELEMENT extends ILocated> implements IPathExecutionEstimator<PATH_ELEMENT> {
10
11 @Override
12 public double getTimeout(List<PATH_ELEMENT> path) {
13 if (path == null) return 0;
14 if (path.size() <= 1) return 5000;
15 Location loc = path.get(0).getLocation();
16 double totalDistance = 0;
17
18 for (int i = 1; i < path.size(); ++i) {
19 totalDistance += loc.getDistance(path.get(i).getLocation());
20 loc = path.get(i).getLocation();
21 }
22
23 return 5000 + totalDistance * 5;
24 }
25
26
27 }