cz.cuni.amis.pogamut.ut2004.agent.module.sensor
Class NavigationGraphHelper

java.lang.Object
  cz.cuni.amis.pogamut.base.agent.module.AgentModule<AGENT>
      cz.cuni.amis.pogamut.base.agent.module.SensorModule<UT2004Bot>
          cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavigationGraphHelper

All Implemented Interfaces:

IComponent

public class NavigationGraphHelper
extends SensorModule<UT2004Bot>

This module helps you to obtain nearest NavPoint and NavPointNeighbourLink to your current location.

Author:

Jimmy

Nested Class Summary

protected class

NavigationGraphHelper.MapPointListObtainedListener MapPointListObtained listener.

Field Summary

protected NavigationGraphHelper.MapPointListObtainedListener	mapPointListObtainedListener
static DistanceUtils.IGetDistance<NavPointNeighbourLink>	NAV_LINK_GET_DISTANCE
static DistanceUtils.IGetDistance<NavLinkPair>	NAV_LINK_PAIR_GET_DISTANCE
protected Set<NavLinkPair>	navLinkPairs List of ALL existing NavLinkPair in the map.
protected Map<UnrealId,Set<NavLinkPair>>	navPointLinks Key: NavPoint.getId() Value: set of link (pairs) that either originate or ends in the corresponding navpoint, i.e.

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.SensorModule

worldView

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

agent, controller, eventBus, log

Constructor Summary

NavigationGraphHelper(UT2004Bot bot)

Method Summary

NavLinkPair	getNearestNavLinkPair() Returns nearest NavLinkPair to current bot position.
NavLinkPair	getNearestNavLinkPair(ILocated target) Returns nearest NavLinkPair to some 'target'.
NavPoint	getNearestNavPoint() Returns nearest NavPoint to current bot position.
NavPoint	getNearestNavPoint(double maxDistance) Returns nearest NavPoint to current bot position no further than 'maxDistance' from the bot.
NavPoint	getNearestNavPoint(ILocated target) Returns nearest NavPoint to some 'target'.
NavPoint	getNearestNavPoint(ILocated target, double maxDistance) Returns nearest NavPoint to some 'target' no further than 'maxDistance' from the bot.
protected void	init(Collection<NavPoint> navPoints) Initialization method called from NavigationGraphHelper.MapPointListObtainedListener.
static Boolean	isPointProjectionAfterLinkSegment(NavPointNeighbourLink link, ILocated point) Tells whether "point" projection to "link" is inside the "link segment".
static Boolean	isPointProjectionBeforeLinkSegment(NavPointNeighbourLink link, ILocated point) Tells whether "point" projection to "link" is inside the "link segment".
static Boolean	isPointProjectionOnLinkSegment(NavPointNeighbourLink link, ILocated point) Tells whether "point" projection to "link" is inside the "link segment".
static Location	projectPointToLinkLine(NavPointNeighbourLink link, ILocated point) Projects 'point' to line formed by the 'link'.

Methods inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

cleanUp, getComponentId, getLog, getState, initComponentId, isRunning, kill, pause, reset, resume, start, stop, toString

Methods inherited from class java.lang.Object

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

Field Detail

NAV_LINK_GET_DISTANCE

public static final DistanceUtils.IGetDistance<NavPointNeighbourLink> NAV_LINK_GET_DISTANCE

NAV_LINK_PAIR_GET_DISTANCE

public static final DistanceUtils.IGetDistance<NavLinkPair> NAV_LINK_PAIR_GET_DISTANCE

navPointLinks

protected Map<UnrealId,Set<NavLinkPair>> navPointLinks

Key: NavPoint.getId() Value: set of link (pairs) that either originate or ends in the corresponding navpoint, i.e. NavLinkPair.isLinkNavPoint(UnrealId) is true for the key.

navLinkPairs

protected Set<NavLinkPair> navLinkPairs

List of ALL existing NavLinkPair in the map.

mapPointListObtainedListener

protected NavigationGraphHelper.MapPointListObtainedListener mapPointListObtainedListener

Constructor Detail

NavigationGraphHelper

public NavigationGraphHelper(UT2004Bot bot)

Method Detail

getNearestNavPoint

public NavPoint getNearestNavPoint()

Returns nearest NavPoint to current bot position.

getNearestNavPoint

public NavPoint getNearestNavPoint(double maxDistance)

Returns nearest NavPoint to current bot position no further than 'maxDistance' from the bot.

getNearestNavLinkPair

public NavLinkPair getNearestNavLinkPair()

Returns nearest NavLinkPair to current bot position.

Returns:

getNearestNavPoint

public NavPoint getNearestNavPoint(ILocated target)

Returns nearest NavPoint to some 'target'.

Parameters:

target -

Returns:

getNearestNavPoint

public NavPoint getNearestNavPoint(ILocated target,
                                   double maxDistance)

Returns nearest NavPoint to some 'target' no further than 'maxDistance' from the bot.

Parameters:

target -

maxDistance -

Returns:

getNearestNavLinkPair

public NavLinkPair getNearestNavLinkPair(ILocated target)

Returns nearest NavLinkPair to some 'target'.

Parameters:

target -

Returns:

projectPointToLinkLine

public static Location projectPointToLinkLine(NavPointNeighbourLink link,
                                              ILocated point)

Projects 'point' to line formed by the 'link'.

Parameters:

link -

point -

isPointProjectionOnLinkSegment

public static Boolean isPointProjectionOnLinkSegment(NavPointNeighbourLink link,
                                                     ILocated point)

Tells whether "point" projection to "link" is inside the "link segment".

Parameters:

link -

point -

Returns:

isPointProjectionBeforeLinkSegment

public static Boolean isPointProjectionBeforeLinkSegment(NavPointNeighbourLink link,
                                                         ILocated point)

Tells whether "point" projection to "link" is inside the "link segment".

Parameters:

link -

point -

Returns:

isPointProjectionAfterLinkSegment

public static Boolean isPointProjectionAfterLinkSegment(NavPointNeighbourLink link,
                                                        ILocated point)

Tells whether "point" projection to "link" is inside the "link segment".

Parameters:

link -

point -

Returns:

init

protected void init(Collection<NavPoint> navPoints)

Initialization method called from NavigationGraphHelper.MapPointListObtainedListener.