结合仓库模型和实验

Question

我正在尝试使用AgvExample中的WarehouseRenderer和AgvRenderer运行实验。

我得到以下异常：

Exception in thread "main" java.lang.IllegalArgumentException: Could not resolve dependency for implementations of interface com.github.rinde.rinsim.core.model.road.CollisionGraphRoadModel, as requested by WarehouseRenderer.builder().
    at com.google.common.base.Preconditions.checkArgument(Preconditions.java:437)
    at com.github.rinde.rinsim.core.model.DependencyResolver.constructDependencyGraph(DependencyResolver.java:90)
    at com.github.rinde.rinsim.core.model.DependencyResolver.resolve(DependencyResolver.java:115)
    at com.github.rinde.rinsim.core.model.ModelManager$Builder.build(ModelManager.java:268)
    at com.github.rinde.rinsim.core.Simulator.<init>(Simulator.java:88)
    at com.github.rinde.rinsim.core.Simulator$Builder.build(Simulator.java:347)
    at com.github.rinde.rinsim.experiment.Experiment.init(Experiment.java:191)
    at com.github.rinde.rinsim.experiment.Experiment.perform(Experiment.java:195)
    at com.github.rinde.rinsim.experiment.LocalComputer$ExperimentRunner.call(LocalComputer.java:202)
    at com.github.rinde.rinsim.experiment.LocalComputer$ExperimentRunner.call(LocalComputer.java:193)
    at com.google.common.util.concurrent.TrustedListenableFutureTask$TrustedFutureInterruptibleTask.runInterruptibly(TrustedListenableFutureTask.java:125)
    at com.google.common.util.concurrent.InterruptibleTask.run(InterruptibleTask.java:57)
    at com.google.common.util.concurrent.TrustedListenableFutureTask.run(TrustedListenableFutureTask.java:78)
    at com.google.common.util.concurrent.MoreExecutors$DirectExecutorService.execute(MoreExecutors.java:258)
    at java.util.concurrent.AbstractExecutorService.submit(AbstractExecutorService.java:134)
    at com.google.common.util.concurrent.AbstractListeningExecutorService.submit(AbstractListeningExecutorService.java:66)
    at com.github.rinde.rinsim.experiment.LocalComputer.compute(LocalComputer.java:81)
    at com.github.rinde.rinsim.experiment.Experiment$Builder.perform(Experiment.java:684)
    at com.github.rinde.rinsim.experiment.Experiment$Builder.perform(Experiment.java:703)
    at agv.ExperimentExample.main(ExperimentExample.java:197)

Answer 1

此错误

表示有一个渲染器附加到模拟器，该渲染器需要类型为 CollisionGraphRoadModel 的模型。只有当存在包含需要渲染的数据的相应模型时，渲染器才能正常运行。

在AgvExample中，以下代码(请参阅第 86-90 行(用于添加所需的模型：

.addModel(
  RoadModelBuilders.dynamicGraph(GraphCreator.createSimpleGraph())
    .withCollisionAvoidance()
    .withDistanceUnit(SI.METER)
    .withVehicleLength(VEHICLE_LENGTH))

如果要在代码中使用WarehouseRenderer，可以添加类似的代码。