1 package cz.cuni.amis.pogamut.udk.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 UDKBasicTimeoutEstimator<PATH_ELEMENT extends ILocated> implements IPathExecutionEstimator<PATH_ELEMENT> {
10
11 int basicTimeout = 5000;
12
13 public UDKBasicTimeoutEstimator() {
14 }
15
16 public UDKBasicTimeoutEstimator(int basicTimeout) {
17 this.basicTimeout = basicTimeout;
18 }
19
20
21
22
23 @Override
24 public double getTimeout(List<PATH_ELEMENT> path) {
25 if (path == null) return 0;
26 if (path.size() <= 1) return basicTimeout;
27 Location loc = path.get(0).getLocation();
28 double totalDistance = 0;
29
30 for (int i = 1; i < path.size(); ++i) {
31 totalDistance += loc.getDistance(path.get(i).getLocation());
32 loc = path.get(i).getLocation();
33 }
34
35 return basicTimeout + totalDistance * 5;
36 }
37
38
39 }