Serialized Form

Package SocialSteeringsBeta

Class SocialSteeringsBeta.SteeringResult extends javax.vecmath.Vector3d implements Serializable

Serialized Fields

accurancyMultiplier

double accurancyMultiplier

Class SocialSteeringsBeta.TriangleSteeringProperties extends SteeringProperties implements Serializable

Serialized Fields

fstDistance

Interval fstDistance

sndDistance

Interval sndDistance

angle

Interval angle

fst

UT2004Bot<WORLD_VIEW extends cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView,ACT extends cz.cuni.amis.pogamut.base.communication.command.IAct,CONTROLLER extends IUT2004BotController> fst

snd

UT2004Bot<WORLD_VIEW extends cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView,ACT extends cz.cuni.amis.pogamut.base.communication.command.IAct,CONTROLLER extends IUT2004BotController> snd

headingType

String headingType

headingValue

Interval headingValue

Package SteeringProperties

Class SteeringProperties.LeaderFollowingProperties extends SteeringProperties implements Serializable

Serialized Fields

leaderForce

int leaderForce

The magnitude of the force of this steering. (It is used in attractive force to the leader, repulsive force from the leader.)

leaderName

String leaderName

The name of the leader bot.

distance

int distance

The ideal distance from the leader.

forceDistance

int forceDistance

At this distance the attractive force to the leader has the magnitude leaderForce.

myLFtype

LeaderFollowingProperties.LFtype myLFtype

The type of the LF steering. The BASIC type is default. The FORMATION type enables to form simple formations. You can use angl to set the ideal position of the follower.

deceleration

boolean deceleration

This parameter helps the agent to decelerate, when it is reasonable. Used just in BASIC type. Recommended value is true.

angleFromTheLeader

double angleFromTheLeader

The angle, which sets the position of the follower. The value Math.PI/2 means right from the leader, Matgh.PI behind the leader, -Math.PI left from the leader, 0 in front of the leader, etc.

velocityMemory

boolean velocityMemory

This parameter help to the more fluent motion in the case of formation type. Recommended value is true.

sizeOfMemory

int sizeOfMemory

The size of the memory of leaders velocities (in the case of velocityMemory). Recommended value is 5.

circumvention

boolean circumvention

This parameter helps the agent to go round the leader, if it's reasonable. Just in the case of the FORMATION type. Recommended value is true.

Class SteeringProperties.ObstacleAvoidanceProperties extends SteeringProperties implements Serializable

Serialized Fields

repulsiveForce

int repulsiveForce

The magnitude of the repulsive force from the obstacles. Reasonable values are 0 - 1000, the default value is 240.

forceOrder

int forceOrder

The order of the force. Possible values are 1 - 10, the default value is 1. The curve of reactions to obstacles according to the order 1 is linear, 2 quadratic, etc. It means that with higher order, the bot reacts less to dsitant obstacles and more to near obstacles. But the value 1 is most usefull value. Other values can cause strange behavior alongside walls etc.

frontCollisions

boolean frontCollisions

Special solution of head-on collisions (front collisions). Basic behaviour leads to rebounding from the obstacles (when the bot aims to the obstacle head-on, he turns nearly 180° round just in front of the obstacle). When this parameter is on, bot turns and continues alongside the side of the obstacle. Recommended value is true.

treeCollisions

boolean treeCollisions

Tree collisions. The default value (in basic baheviour) is false. Recommended value is true. Special solution of collisions with trees and other narrow obstacles (so narrow, that just one of the rays will hit them). In basic behaviour (when the switch is off), when the bot aims to the tree that just the front side rays hits, he avoids the tree from the worse side. When the switch is on, he avoids the obstacle from the right (nearer) side.

Class SteeringProperties.PathFollowingProperties extends SteeringProperties implements Serializable

Serialized Fields

repulsiveForce

int repulsiveForce

Steering properties: the magnitude of the repulsive force, to repulse agent from the side of the corridor. Reasonable values are 0 - 1000, the default value is 200.

distance

int distance

The maximal distance from the axe of the path. Reasonable values are 200 - 2000.

targetLocation

cz.cuni.amis.pogamut.base3d.worldview.object.Location targetLocation

TargetLocation - if we want to compute path later, we can store here the targetLocation of the path.

regulatingForce

double regulatingForce

Regulating Force - helps the bot to keep the direction of the path. Recommended value is 50.

projection

int projection

The length of the projection - how much ahead we project our motion. Recommended values are 5-15.

Class SteeringProperties.PeopleAvoidanceProperties extends SteeringProperties implements Serializable

Serialized Fields

repulsiveForce

int repulsiveForce

Steering properties: the magnitude of the repulsive force from other agents. Reasonable values are 0 - 1000, the default value is 200.

distance

int distance

Steering properties: the ideal distance from other people. Reasonable values are 0 - 2000, the default value is 300. The steering doesn't guarantee that other agents won't get closer, but if they get, the agent will be repulsed from them.

circumvention

boolean circumvention

This parameter causes that agent is able to go round other agent, if it's reasonable. Recommended value is true.

deceleration

boolean deceleration

This parameter causes that agent is able to decelerate, if it's reasonable. Recommended value is true.

acceleration

boolean acceleration

This parameter causes that agent is able to accelerate, if it's reasonable. Recommended value is true.

projection

double projection

The projection is used in the case of the parameters circumvention, deceleration and acceleration. The motion is projection ahead for projection ticks.

Class SteeringProperties.SteeringProperties extends Object implements Serializable

Serialized Fields

type

SteeringType type

The type of the steering.

active

boolean active

Whether the steering is active. Steering manager doesn't use this value, but the user can.

weight

double weight

The weight of the steering. The return steering force will be multiplied by this value in the combination of the steerings forces.

behaviorType

SteeringProperties.BehaviorType behaviorType

The behavior type. Steering manager doesn't use this value, but user can.

Class SteeringProperties.StickToPathProperties extends SteeringProperties implements Serializable

serialVersionUID: 7084968068794870946L

Serialized Fields

repulsiveForce

int repulsiveForce

Steering properties: the magnitude of the repulsive force, to repulse agent from the side of the corridor. Reasonable values are 0 - 1000, the default value is 200.

distance

int distance

The maximal distance from the axe of the path. Reasonable values are 200 - 2000.

targetLocation

cz.cuni.amis.pogamut.base3d.worldview.object.Location targetLocation

TargetLocation - if we want to compute path later, we can store here the targetLocation of the path.

regulatingForce

double regulatingForce

Regulating Force - helps the bot to keep the direction of the path. Recommended value is 50.

projection

int projection

The length of the projection - how much ahead we project our motion. Recommended values are 5-15.

Class SteeringProperties.TargetApproachingProperties extends SteeringProperties implements Serializable

Serialized Fields

targets

ArrayList<E> targets

Steering properties: the list of targets and its forces

Class SteeringProperties.WalkAlongProperties extends SteeringProperties implements Serializable

Serialized Fields

partnerForce

int partnerForce

The magnitude of the main force of the steering. It is used for the attractive force to the target, attractive to/repulsive from the partner, etc.

partnerName

String partnerName

The name of the partner bot.

targetLocation

cz.cuni.amis.pogamut.base3d.worldview.object.Location targetLocation

The target location. Should be same for both partners.

distance

int distance

Ideal distance between both partners.

giveWayToPartner

boolean giveWayToPartner

This parameter causes better bahevior. Partners are able to go round the other one, even if the partner is between the agent and the target. Recommended value is true.

waitForPartner

boolean waitForPartner

With this parameter, the agent doesn't every time run exactly to the partner, but waits for him, if it's more reasonable.

Class SteeringProperties.WallFollowingProperties extends SteeringProperties implements Serializable

Serialized Fields

wallForce

int wallForce

The force of the wall. Reasonable value is around 100.

forceOrder

int forceOrder

The order of the force in the range 1-10.

attractiveForceWeight

double attractiveForceWeight

The weight of the arractive force. Default value is 1.

repulsiveForceWeight

double repulsiveForceWeight

The weight of the repulsive force. Default value is 1.

convexEdgesForceWeight

double convexEdgesForceWeight

The weight of the force of the convex edges. Default value is 1.

concaveEdgesForceWeight

double concaveEdgesForceWeight

The weight of the force of the concave edges. Default value is 1.

justMySide

boolean justMySide

This parameter causes, that just the forces from the actual side will be noticed. The bot goes more fluently then. Recommended value is true.

specialDetection

boolean specialDetection

The special detection of the convex edges, helps for fluent motion. Recommended value is true.

frontCollisions

boolean frontCollisions

The good solution of the front collisions. Recommended value is true.