cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator
Class LoqueNavigator<PATH_ELEMENT extends ILocated>

java.lang.Object
  cz.cuni.amis.pogamut.ut2004.agent.navigation.AbstractUT2004PathNavigator<PATH_ELEMENT>
      cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator<PATH_ELEMENT>

All Implemented Interfaces:

IUT2004PathNavigator<PATH_ELEMENT>

public class LoqueNavigator<PATH_ELEMENT extends ILocated>
extends AbstractUT2004PathNavigator<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 KefikRunner 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

static class

LoqueNavigator.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 for considering the bot to be AT LOCATION/NAV POINT.
protected Logger	log Agent's log.
protected UT2004Bot	main Agent's main.
protected AgentInfo	memory Loque memory.

Fields inherited from class cz.cuni.amis.pogamut.ut2004.agent.navigation.AbstractUT2004PathNavigator

bot, botWaiting, executor, self

Constructor Summary

LoqueNavigator(UT2004Bot bot, AgentInfo info, AdvancedLocomotion move, IUT2004PathRunner runner, Logger log)
Constructor.

LoqueNavigator(UT2004Bot bot, AgentInfo info, AdvancedLocomotion move, Logger log)
Constructor.

Method Summary

NavPointNeighbourLink	getCurrentLink() Returns current link the bot is following (if such link exist...
Logger	getLog()
protected NavPoint	getNavPoint(ILocated location) Returns NavPoint instance for a given location.
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 boolean	isReachable(NavPoint node)
protected LoqueNavigator.Stage	keepNavigating() Navigates with the current navigation request.
protected void	navigate(ILocated focus, 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) UT2004PathExecutor reports that new path has been received and the IUT2004PathNavigator#navigate() is about to be called in near future.
void	pathExtended(List<PATH_ELEMENT> path, int currentPathIndex) Path has been prolonged ...
void	reset() UT2004PathExecutor 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.ut2004.agent.navigation.AbstractUT2004PathNavigator

navigate, setBot, setBotWaiting, 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 for considering the bot to be AT LOCATION/NAV POINT. If greater than 50, navigation will failed on DM-Flux2 when navigating between health vials in one of map corers.

See Also:

Constant Field Values

main

protected UT2004Bot 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(UT2004Bot bot,
                      AgentInfo info,
                      AdvancedLocomotion move,
                      Logger log)

Constructor.

Parameters:

main - Agent's main.

memory - Loque memory.

LoqueNavigator

public LoqueNavigator(UT2004Bot bot,
                      AgentInfo info,
                      AdvancedLocomotion move,
                      IUT2004PathRunner runner,
                      Logger log)

Constructor.

Parameters:

main - Agent's main.

memory - Loque memory.

Method Detail

navigate

protected void navigate(ILocated focus,
                        int pathElementIndex)

Description copied from class: AbstractUT2004PathNavigator

Does the actual navigation of the bot, it should steer it towards path element of the index 'pathElementIndex'. Called (after several checks) from AbstractUT2004PathNavigator#navigate().

Specified by:

navigate in class AbstractUT2004PathNavigator<PATH_ELEMENT extends ILocated>

reset

public void reset()

Description copied from interface: IUT2004PathNavigator

UT2004PathExecutor 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: IUT2004PathNavigator

UT2004PathExecutor reports that new path has been received and the IUT2004PathNavigator#navigate() is about to be called in near future. The new path is passed as a parameter.

pathExtended

public void pathExtended(List<PATH_ELEMENT> path,
                         int currentPathIndex)

Description copied from interface: IUT2004PathNavigator

Path has been prolonged ... some elements (already passed) has been removed, some added.

getCurrentLink

public NavPointNeighbourLink getCurrentLink()

Description copied from interface: IUT2004PathNavigator

Returns current link the bot is following (if such link exist... may return null).

Returns:

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:

isReachable

protected boolean isReachable(NavPoint node)

getLog

public Logger getLog()