edu.udo.cs.ie.cowbots.internalActions.scout
Class createWaypoints

Package class diagram package createWaypoints
java.lang.Object
  extended by DefaultInternalAction
      extended by edu.udo.cs.ie.cowbots.internalActions.scout.createWaypoints

public class createWaypoints
extends DefaultInternalAction


Field Summary
 boolean experimental_obstacle
           
 
Constructor Summary
createWaypoints()
           
 
Method Summary
private  Literal createLiteralWithPredicate(java.lang.String pre, int stepNo, int vX, int vY, java.lang.String lastDirection, java.lang.String step)
          Creates Waypoint of type pre, adds prefix k
 java.lang.Object execute(TransitionSystem ts, Unifier un, Term[] args)
          Called to test waypoint mechanism, returns the number of generated waypoints.
 java.util.List<Literal> generateWaypoints(TransitionSystem ts, int from_x, int from_y, int to_x, int to_y)
           
 java.util.List<Literal> generateWaypoints(TransitionSystem ts, int from_x, int from_y, int to_x, int to_y, boolean cowdriving)
          Generates waypoints according to the cowdriving strategy TODO: Pay attention to the herd's radius
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

experimental_obstacle

public boolean experimental_obstacle
Constructor Detail

createWaypoints

public createWaypoints()
Method Detail

execute

public java.lang.Object execute(TransitionSystem ts,
                                Unifier un,
                                Term[] args)
                         throws java.lang.Exception
Called to test waypoint mechanism, returns the number of generated waypoints. CAUTION: Waypoints are not stored anyware at the moment! Update. Waypoints are populated to BB!

Throws:
java.lang.Exception

generateWaypoints

public java.util.List<Literal> generateWaypoints(TransitionSystem ts,
                                                 int from_x,
                                                 int from_y,
                                                 int to_x,
                                                 int to_y)
                                          throws java.lang.Exception
Throws:
java.lang.Exception

generateWaypoints

public java.util.List<Literal> generateWaypoints(TransitionSystem ts,
                                                 int from_x,
                                                 int from_y,
                                                 int to_x,
                                                 int to_y,
                                                 boolean cowdriving)
                                          throws java.lang.Exception
Generates waypoints according to the cowdriving strategy TODO: Pay attention to the herd's radius

Parameters:
ts -
from_x -
from_y -
to_x -
to_y -
cowdriving - true, if waypoints should be generated according to cowdriving strategy
Returns:
Throws:
java.lang.Exception

createLiteralWithPredicate

private Literal createLiteralWithPredicate(java.lang.String pre,
                                           int stepNo,
                                           int vX,
                                           int vY,
                                           java.lang.String lastDirection,
                                           java.lang.String step)
Creates Waypoint of type pre, adds prefix k

Parameters:
pre -
stepNo -
vX -
vY -
lastDirection -
step -
Returns: