cz.cuni.amis.pogamut.ut2004.agent.navigation
Class UT2004GetBackToNavGraph

java.lang.Object
  cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph

All Implemented Interfaces:

IUT2004GetBackToNavGraph

public class UT2004GetBackToNavGraph
extends Object
implements IUT2004GetBackToNavGraph

This class is meant to provide easy "get-back-to-navigation-graph-in-order-I-can-safely-navigate-through-map" implementation. Automatically uses UT2004TimeStuckDetector, UT2004PositionStuckDetector and UT2004DistanceStuckDetector.

Author:

Jimmy

Field Summary

protected UT2004Bot	bot
static int	CLOSE_ENOUGH
protected IWorldEventListener<EndMessage>	endListener
protected boolean	executing
protected ILocated	focus
protected AgentInfo	info
protected Location	initialLocation
protected LogCategory	log
static double	MAX_ANGLE
protected int	randomMoveDirection
protected IUT2004PathRunner	runner
protected List<IStuckDetector>	stuckDetectors
protected TabooSet<NavPoint>	tried
protected NavPoint	tryingNav

Constructor Summary

UT2004GetBackToNavGraph(UT2004Bot bot, AgentInfo info, AdvancedLocomotion move)

Method Summary

void	addStuckDetector(IStuckDetector stuckDetector) Adds another stuck detector to be used for stuck detection :)
void	backToNavGraph() Start the class, let it take the bot back to navigation graph.
void	clearStuckDetectors() Removes ALL stuck detectors.
protected void	getBackOnNavGraph()
LogCategory	getLog() Returns component logger.
NavPoint	getNearestNavPoint() Returns nearest NavPoint to current bot's location.
boolean	isExecuting() Whether the class is executing (== working == trying to get the bot back on NavGraph == to make isOnNavGraph() true).
boolean	isOnNavGraph() Whether the bot is currently on some NavPoint.
void	removeStuckDetector(IStuckDetector stuckDetector) Removes stuck detector.
protected void	reset()
protected void	runFailed()
protected void	runSomewhere() Last resort - keep trying random points 200 UT units from bot location - 90 degrees left, right and backwards.
protected boolean	runToNavPoint()
void	setFocus(ILocated located) Sets focus of the bot when navigating (when using this object to run to some location target)! To reset focus call this method with null parameter.
void	stop() Stop the class.

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

See Also:

Constant Field Values

MAX_ANGLE

public static final double MAX_ANGLE

See Also:

Constant Field Values

bot

protected UT2004Bot bot

info

protected AgentInfo info

runner

protected IUT2004PathRunner runner

executing

protected boolean executing

log

protected LogCategory log

randomMoveDirection

protected int randomMoveDirection

endListener

protected IWorldEventListener<EndMessage> endListener

stuckDetectors

protected List<IStuckDetector> stuckDetectors

focus

protected ILocated focus

tried

protected TabooSet<NavPoint> tried

tryingNav

protected NavPoint tryingNav

initialLocation

protected Location initialLocation

Constructor Detail

UT2004GetBackToNavGraph

public UT2004GetBackToNavGraph(UT2004Bot bot,
                               AgentInfo info,
                               AdvancedLocomotion move)

Method Detail

getLog

public LogCategory getLog()

Description copied from interface: IUT2004GetBackToNavGraph

Returns component logger.

Specified by:

getLog in interface IUT2004GetBackToNavGraph

Returns:

addStuckDetector

public void addStuckDetector(IStuckDetector stuckDetector)

Description copied from interface: IUT2004GetBackToNavGraph

Adds another stuck detector to be used for stuck detection :)

Specified by:

addStuckDetector in interface IUT2004GetBackToNavGraph

removeStuckDetector

public void removeStuckDetector(IStuckDetector stuckDetector)

Description copied from interface: IUT2004GetBackToNavGraph

Removes stuck detector.

Specified by:

removeStuckDetector in interface IUT2004GetBackToNavGraph

clearStuckDetectors

public void clearStuckDetectors()

Description copied from interface: IUT2004GetBackToNavGraph

Removes ALL stuck detectors.

Specified by:

clearStuckDetectors in interface IUT2004GetBackToNavGraph

getNearestNavPoint

public NavPoint getNearestNavPoint()

Description copied from interface: IUT2004GetBackToNavGraph

Returns nearest NavPoint to current bot's location.

Specified by:

getNearestNavPoint in interface IUT2004GetBackToNavGraph

Returns:

isOnNavGraph

public boolean isOnNavGraph()

Description copied from interface: IUT2004GetBackToNavGraph

Whether the bot is currently on some NavPoint.

Specified by:

isOnNavGraph in interface IUT2004GetBackToNavGraph

isExecuting

public boolean isExecuting()

Description copied from interface: IUT2004GetBackToNavGraph

Whether the class is executing (== working == trying to get the bot back on NavGraph == to make isOnNavGraph() true).

Specified by:

isExecuting in interface IUT2004GetBackToNavGraph

Returns:

setFocus

public void setFocus(ILocated located)

Description copied from interface: IUT2004GetBackToNavGraph

Sets focus of the bot when navigating (when using this object to run to some location target)! To reset focus call this method with null parameter.

Specified by:

setFocus in interface IUT2004GetBackToNavGraph

backToNavGraph

public void backToNavGraph()

Description copied from interface: IUT2004GetBackToNavGraph

Start the class, let it take the bot back to navigation graph.

Specified by:

backToNavGraph in interface IUT2004GetBackToNavGraph

stop

public void stop()

Description copied from interface: IUT2004GetBackToNavGraph

Stop the class.

Specified by:

stop in interface IUT2004GetBackToNavGraph

reset

protected void reset()

getBackOnNavGraph

protected void getBackOnNavGraph()

runSomewhere

protected void runSomewhere()

Last resort - keep trying random points 200 UT units from bot location - 90 degrees left, right and backwards. :-)

runToNavPoint

protected boolean runToNavPoint()

runFailed

protected void runFailed()