private void decideOnExplore() {
if (this.explore == null) this.explore = new Explore();
if (this.explore.plan == null
&& !knownArena.toVisit
.isEmpty()) { // || !this.explore.p.equals(knownArena.curentPosition) ) {
Vector<BestPos> tmp = new Vector<BestPos>();
for (BestPos bp : knownArena.toVisit) {
this.explore.plan = Plan.createPlan(knownArena, bp.p, 15, false, 100);
tmp.add(bp);
if (this.explore.plan != null) {
// this.explore.plan.print();
// System.out.print("\n\n");
break;
}
}
for (BestPos bp : tmp) {
knownArena.toVisit.remove(bp);
knownArena.visited.add(bp.p);
}
}
if (this.explore.plan != null) {
this.explore.p = this.explore.plan.p;
this.explore.plan = mulDirection(this.explore.plan);
}
}
private void decideOnReturn() {
if (this.ret == null) this.ret = new Explore();
if (this.ret.plan == null || !this.ret.p.equals(knownArena.curentPosition)) {
this.ret.plan =
Plan.createPlan(
knownArena, knownArena.landmarks.get(Neighborhood.HEADQUARTERS), 10000, true, 150);
if (this.ret.plan == null) {
decideOnExplore();
return;
}
}
// this.explore.plan.print();
this.ret.p = this.ret.plan.p;
this.ret.plan = mulDirection(this.ret.plan);
}
private void decideOnSeek() {
if (knownArena.landmarks.get(Neighborhood.FLAG) == null) {
state = AgentState.EXPLORE;
decideOnExplore();
}
if (this.seek == null) this.seek = new Explore();
if (this.seek.plan == null || !this.seek.p.equals(knownArena.curentPosition)) {
this.seek.plan =
Plan.createPlan(
knownArena, knownArena.landmarks.get(Neighborhood.FLAG), 10000, true, 200);
}
// this.explore.plan.print();
this.seek.p = this.seek.plan.p;
this.seek.plan = mulDirection(this.seek.plan);
}