Create nodes that serve as path points

This function creates a dataframe of nodes that can serve as path points for the agent to use when walking to their goal. The output is used in create_edges to create paths the agent can take, and ultimately in find_path for finding the shortest path from the agent to the goal.

Usage

create_nodes(
  from,
  to,
  background,
  space_between = 0.5,
  many_nodes = FALSE,
  cpp = TRUE
)

Arguments

from

Numeric denoting the coordinate from which to begin routes.

to

Numeric denoting the coordinate from which to end routes.

background

Object of the background-class.

space_between

Numeric denoting the space to leave between the circumference of the object and the nodes created under the hood (see add_nodes). Defaults to 0.5.

many_nodes

Logical denoting whether to create many nodes or leave it at the minimum. If FALSE, nodes are only added at the outlines of the objects contained within the objects slot of background. If TRUE, 400 additional nodes are added at an equal distance in the x-direction (20 nodes) and an equal distance in the y-direction (20 nodes), making the 20 x 20 = 400 additional nodes. Defaults to FALSE.

cpp

Logical denoting whether to use the Rcpp alternative (TRUE) or the R alternative of this function (FALSE). Defaults to TRUE.

Value

Dataframe with the surviving nodes, containing the node id under "node_ID" and its coordinates under "X" and "Y".

See also

background-class, add_nodes, find_path, in_object, create_edges, out_object,

Examples

# Define a background in which the agent can move
my_background <- background(shape = rectangle(center = c(0, 0), 
                                              size = c(2, 2)), 
                            objects = list(rectangle(center = c(0, 0), 
                                                     size = c(1, 1))))

nodes <- create_nodes(c(-0.75, 0), 
                      c(0.75, 0), 
                      my_background, 
                      space_between = 0.25)

# Check the nodes
head(nodes)
#>   node_ID          X          Y
#> 1   agent -0.7500000  0.0000000
#> 2  node 1 -0.6767767 -0.6767767
#> 3  node 2 -0.6767767  0.6767767
#> 4  node 3  0.6767767  0.6767767
#> 5  node 4  0.6767767 -0.6767767
#> 6  node 5 -0.8232233 -0.8232233