Check where an object can be moved to

Rcpp alternative to moving_options. This method checks where an object can be moved to. It returns a logical matrix that codes TRUE for the cells that are available and FALSE for those that aren't.

Usage

moving_options_rcpp(agent, state, background, centers)

Arguments

agent

Object of the agent-class or the object-class (latter not yet supported).

state

Object of the state-class containing the current state.

background

Object of the background-class.

centers

Numerical matrix containing the coordinates at each position the object can be moved to. Should have one row for each cell.

Value

Logical matrix containing availabilities of the centers.

Details

In general, this method works as follows. First, it checks whether any of the provided cell centers are freely available, in the sense that they are not contained inside any objects or fall outside of the setting. This is a crude measure of whether a particular spot is available and is handled by the free_cells_rcpp function of the m4ma package.

Second, we check whether the object itself can be moved to this space, or whether it would intersect with any of the objects and/or the outline of the setting. This is a more direct measure of availability, as it doesn't only account for whether a specific spot can be reached theoretically, but also accounts for the size of the object that is being moved there. This is handled by the overlap_with_objects function in predped.

Finally, if the object is an instance of the agent-class, we also check whether the agent can still see there current goal or path-point when they move to the open spots. They will not move to the spots from which they cannot see their goal/path-point. This is handled by the seesGoalOK_rcpp function in the m4ma package.

WARNING: Due to its reliance on the m4ma package, centers needs to be of length 33 x 2. This corresponds to the 3 (change in speed) x 11 (change in orientation) options that are inherent to M4MA.

See also

agent-class, background-class, object-class, state-class, overlap_with_objects

Examples

# Initialize all objects that you need
my_background <- background(shape = rectangle(center = c(0, 0),
                                              size = c(6, 6)),
                            objects = list(circle(center = c(0, 0),
                                                  radius = 2)))
my_agent <- agent(center = c(-2.75, 0),
                  radius = 0.25,
                  speed = 1,
                  orientation = 0,
                  current_goal = goal(position = c(-2.01, 0),
                                      path = matrix(c(-2.01, 0), nrow = 1)))

my_state <- state(iteration = 1,
                  setting = my_background,
                  agents = list())

# Generate several locations the agent can move to
centers <- m4ma::c_vd_r(1:33,
                        position(my_agent),
                        speed(my_agent),
                        orientation(my_agent))

# Use moving_options to see which of these possibilities is sound
moving_options(my_agent,
               my_state,
               my_background,
               centers,
               cpp = TRUE)
#>        [,1]  [,2] [,3]
#>  [1,]  TRUE  TRUE TRUE
#>  [2,]  TRUE  TRUE TRUE
#>  [3,] FALSE  TRUE TRUE
#>  [4,] FALSE  TRUE TRUE
#>  [5,] FALSE  TRUE TRUE
#>  [6,] FALSE FALSE TRUE
#>  [7,] FALSE  TRUE TRUE
#>  [8,] FALSE  TRUE TRUE
#>  [9,] FALSE  TRUE TRUE
#> [10,]  TRUE  TRUE TRUE
#> [11,]  TRUE  TRUE TRUE