Package edu.tufts.hrilab.pathfinding

Class PathPlannerComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.pathfinding.PathPlannerComponent

public class PathPlannerComponent
extends DiarcComponent

Field Summary

Fields

Modifier and Type	Field	Description
protected Map<Integer,Map<Integer,Float>>	grid
protected boolean	registerForBeliefNotifications
protected boolean	shouldLogBeliefMsg

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
PathPlannerComponent()

Method Summary

Modifier and Type	Method	Description
protected void	executionLoop()	This is where any code that needs to be called repeatedly in a dedicated thread should live.
List<org.apache.commons.lang3.tuple.Pair<Integer,Integer>>	findDirectPath(int startX, int startY, int goalX, int goalY)	Euclidean path from [startX,startY] to [goalX,goalY].
Justification	findDirectPath(Symbol startX, Symbol startY, Symbol goalX, Symbol goalY, List<Symbol> path)	Wrapper around findDirectPath that makes usage from an action script easier.
Integer	findPath(int startX, int startY, int goalX, int goalY, List<org.apache.commons.lang3.tuple.Pair<Integer,Integer>> path)	Find path from [startX,startY] to [goalX,goalY] using A*.
Justification	findPath(Symbol startX, Symbol startY, Symbol goalX, Symbol goalY, List<Predicate> path)	Wrapper around findPath that makes usage from an action script easier.
protected void	init()	Perform any component initialization.
boolean	isBreakable(Symbol locx, Symbol locy)
boolean	isEmpty(int x, int y)
boolean	isPassable(int x, int y)
void	resetMap()
void	updateMap(Term atTerm, List<Map<Variable,Symbol>> bindings)

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

additionalUsageInfo, createInstance, createInstance, createInstance, createInstance, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, parseArgs, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

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

Field Details

grid

protected Map<Integer,Map<Integer,Float>> grid

registerForBeliefNotifications

protected boolean registerForBeliefNotifications

shouldLogBeliefMsg

protected boolean shouldLogBeliefMsg

Constructor Details

PathPlannerComponent

public PathPlannerComponent()

Method Details

init

protected void init()

Description copied from class: DiarcComponent

Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.

Overrides:

init in class DiarcComponent

executionLoop

protected void executionLoop()

Description copied from class: DiarcComponent

This is where any code that needs to be called repeatedly in a dedicated thread should live. It is not called by default and you must set shouldRunExecutionLoop to true in your constructor.

Overrides:

executionLoop in class DiarcComponent

resetMap

public void resetMap()

updateMap

public void updateMap(Term atTerm,
 List<Map<Variable,Symbol>> bindings)

isPassable

public boolean isPassable(int x,
 int y)

isEmpty

public boolean isEmpty(int x,
 int y)

isBreakable

public boolean isBreakable(Symbol locx,
 Symbol locy)

findPath

public Justification findPath(Symbol startX,
 Symbol startY,
 Symbol goalX,
 Symbol goalY,
 List<Predicate> path)

Wrapper around findPath that makes usage from an action script easier. The returned path is a list of at(ACTOR,x,y) predicates defining each step of the path.

Parameters:

startX -

startY -

goalX -

goalY -

path -

Returns:

findPath

public Integer findPath(int startX,
 int startY,
 int goalX,
 int goalY,
 List<org.apache.commons.lang3.tuple.Pair<Integer,Integer>> path)

Find path from [startX,startY] to [goalX,goalY] using A*. This finds the path with min weight, which can be a path containing objects in the way.

Parameters:

startX -

startY -

goalX -

goalY -

path -

Returns:

findDirectPath

public Justification findDirectPath(Symbol startX,
 Symbol startY,
 Symbol goalX,
 Symbol goalY,
 List<Symbol> path)

Wrapper around findDirectPath that makes usage from an action script easier. The returned path is a list of at(agent,x,y) predicates defining each step of the path.

Parameters:

startX -

startY -

goalX -

goalY -

path -

Returns:

findDirectPath

public List<org.apache.commons.lang3.tuple.Pair<Integer,Integer>> findDirectPath(int startX,
 int startY,
 int goalX,
 int goalY)

Euclidean path from [startX,startY] to [goalX,goalY]. TODO: replace this with a findMostClearPath implementation that tries to avoid as many obstacles as possible

Parameters:

startX -

startY -

goalX -

goalY -

Returns: