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593 lines
25 KiB
C++
593 lines
25 KiB
C++
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/*
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* RVOSimulator2d.h
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* RVO2 Library
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*
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* Copyright 2008 University of North Carolina at Chapel Hill
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <http://gamma.cs.unc.edu/RVO2/>
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*/
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#ifndef RVO2D_RVO_SIMULATOR_H_
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#define RVO2D_RVO_SIMULATOR_H_
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/**
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* \file RVOSimulator2d.h
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* \brief Contains the RVOSimulator2D class.
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*/
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#include <cstddef>
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#include <limits>
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#include <vector>
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#include "Vector2.h"
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namespace RVO2D {
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/**
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* \brief Error value.
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*
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* A value equal to the largest unsigned integer that is returned in case
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* of an error by functions in RVO2D::RVOSimulator2D.
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*/
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const size_t RVO2D_ERROR = std::numeric_limits<size_t>::max();
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/**
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* \brief Defines a directed line.
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*/
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class Line {
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public:
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/**
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* \brief A point on the directed line.
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*/
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Vector2 point;
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/**
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* \brief The direction of the directed line.
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*/
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Vector2 direction;
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};
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class Agent2D;
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class KdTree2D;
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class Obstacle2D;
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/**
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* \brief Defines the simulation.
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*
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* The main class of the library that contains all simulation functionality.
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*/
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class RVOSimulator2D {
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public:
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/**
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* \brief Constructs a simulator instance.
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*/
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RVOSimulator2D();
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/**
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* \brief Constructs a simulator instance and sets the default
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* properties for any new agent that is added.
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* \param timeStep The time step of the simulation.
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* Must be positive.
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* \param neighborDist The default maximum distance (center point
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* to center point) to other agents a new agent
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* takes into account in the navigation. The
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* larger this number, the longer he running
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* time of the simulation. If the number is too
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* low, the simulation will not be safe. Must be
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* non-negative.
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* \param maxNeighbors The default maximum number of other agents a
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* new agent takes into account in the
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* navigation. The larger this number, the
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* longer the running time of the simulation.
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* If the number is too low, the simulation
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* will not be safe.
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* \param timeHorizon The default minimal amount of time for which
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* a new agent's velocities that are computed
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* by the simulation are safe with respect to
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* other agents. The larger this number, the
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* sooner an agent will respond to the presence
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* of other agents, but the less freedom the
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* agent has in choosing its velocities.
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* Must be positive.
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* \param timeHorizonObst The default minimal amount of time for which
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* a new agent's velocities that are computed
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* by the simulation are safe with respect to
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* obstacles. The larger this number, the
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* sooner an agent will respond to the presence
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* of obstacles, but the less freedom the agent
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* has in choosing its velocities.
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* Must be positive.
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* \param radius The default radius of a new agent.
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* Must be non-negative.
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* \param maxSpeed The default maximum speed of a new agent.
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* Must be non-negative.
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* \param velocity The default initial two-dimensional linear
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* velocity of a new agent (optional).
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*/
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RVOSimulator2D(float timeStep, float neighborDist, size_t maxNeighbors,
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float timeHorizon, float timeHorizonObst, float radius,
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float maxSpeed, const Vector2 &velocity = Vector2());
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/**
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* \brief Destroys this simulator instance.
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*/
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~RVOSimulator2D();
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/**
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* \brief Adds a new agent with default properties to the
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* simulation.
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* \param position The two-dimensional starting position of
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* this agent.
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* \return The number of the agent, or RVO2D::RVO2D_ERROR when the agent
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* defaults have not been set.
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*/
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size_t addAgent(const Vector2 &position);
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/**
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* \brief Adds a new agent to the simulation.
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* \param position The two-dimensional starting position of
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* this agent.
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* \param neighborDist The maximum distance (center point to
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* center point) to other agents this agent
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* takes into account in the navigation. The
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* larger this number, the longer the running
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* time of the simulation. If the number is too
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* low, the simulation will not be safe.
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* Must be non-negative.
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* \param maxNeighbors The maximum number of other agents this
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* agent takes into account in the navigation.
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* The larger this number, the longer the
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* running time of the simulation. If the
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* number is too low, the simulation will not
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* be safe.
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* \param timeHorizon The minimal amount of time for which this
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* agent's velocities that are computed by the
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* simulation are safe with respect to other
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* agents. The larger this number, the sooner
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* this agent will respond to the presence of
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* other agents, but the less freedom this
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* agent has in choosing its velocities.
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* Must be positive.
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* \param timeHorizonObst The minimal amount of time for which this
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* agent's velocities that are computed by the
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* simulation are safe with respect to
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* obstacles. The larger this number, the
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* sooner this agent will respond to the
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* presence of obstacles, but the less freedom
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* this agent has in choosing its velocities.
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* Must be positive.
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* \param radius The radius of this agent.
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* Must be non-negative.
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* \param maxSpeed The maximum speed of this agent.
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* Must be non-negative.
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* \param velocity The initial two-dimensional linear velocity
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* of this agent (optional).
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* \return The number of the agent.
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*/
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size_t addAgent(const Vector2 &position, float neighborDist,
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size_t maxNeighbors, float timeHorizon,
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float timeHorizonObst, float radius, float maxSpeed,
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const Vector2 &velocity = Vector2());
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/**
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* \brief Adds a new obstacle to the simulation.
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* \param vertices List of the vertices of the polygonal
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* obstacle in counterclockwise order.
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* \return The number of the first vertex of the obstacle,
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* or RVO2D::RVO2D_ERROR when the number of vertices is less than two.
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* \note To add a "negative" obstacle, e.g. a bounding polygon around
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* the environment, the vertices should be listed in clockwise
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* order.
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*/
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size_t addObstacle(const std::vector<Vector2> &vertices);
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/**
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* \brief Lets the simulator perform a simulation step and updates the
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* two-dimensional position and two-dimensional velocity of
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* each agent.
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*/
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void doStep();
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/**
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* \brief Returns the specified agent neighbor of the specified
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* agent.
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* \param agentNo The number of the agent whose agent
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* neighbor is to be retrieved.
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* \param neighborNo The number of the agent neighbor to be
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* retrieved.
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* \return The number of the neighboring agent.
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*/
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size_t getAgentAgentNeighbor(size_t agentNo, size_t neighborNo) const;
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/**
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* \brief Returns the maximum neighbor count of a specified agent.
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* \param agentNo The number of the agent whose maximum
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* neighbor count is to be retrieved.
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* \return The present maximum neighbor count of the agent.
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*/
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size_t getAgentMaxNeighbors(size_t agentNo) const;
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/**
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* \brief Returns the maximum speed of a specified agent.
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* \param agentNo The number of the agent whose maximum speed
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* is to be retrieved.
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* \return The present maximum speed of the agent.
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*/
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float getAgentMaxSpeed(size_t agentNo) const;
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/**
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* \brief Returns the maximum neighbor distance of a specified
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* agent.
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* \param agentNo The number of the agent whose maximum
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* neighbor distance is to be retrieved.
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* \return The present maximum neighbor distance of the agent.
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*/
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float getAgentNeighborDist(size_t agentNo) const;
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/**
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* \brief Returns the count of agent neighbors taken into account to
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* compute the current velocity for the specified agent.
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* \param agentNo The number of the agent whose count of agent
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* neighbors is to be retrieved.
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* \return The count of agent neighbors taken into account to compute
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* the current velocity for the specified agent.
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*/
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size_t getAgentNumAgentNeighbors(size_t agentNo) const;
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/**
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* \brief Returns the count of obstacle neighbors taken into account
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* to compute the current velocity for the specified agent.
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* \param agentNo The number of the agent whose count of
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* obstacle neighbors is to be retrieved.
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* \return The count of obstacle neighbors taken into account to
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* compute the current velocity for the specified agent.
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*/
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size_t getAgentNumObstacleNeighbors(size_t agentNo) const;
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/**
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* \brief Returns the count of ORCA constraints used to compute
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* the current velocity for the specified agent.
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* \param agentNo The number of the agent whose count of ORCA
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* constraints is to be retrieved.
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* \return The count of ORCA constraints used to compute the current
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* velocity for the specified agent.
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*/
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size_t getAgentNumORCALines(size_t agentNo) const;
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/**
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* \brief Returns the specified obstacle neighbor of the specified
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* agent.
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* \param agentNo The number of the agent whose obstacle
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* neighbor is to be retrieved.
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* \param neighborNo The number of the obstacle neighbor to be
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* retrieved.
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* \return The number of the first vertex of the neighboring obstacle
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* edge.
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*/
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size_t getAgentObstacleNeighbor(size_t agentNo, size_t neighborNo) const;
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/**
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* \brief Returns the specified ORCA constraint of the specified
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* agent.
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* \param agentNo The number of the agent whose ORCA
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* constraint is to be retrieved.
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* \param lineNo The number of the ORCA constraint to be
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* retrieved.
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* \return A line representing the specified ORCA constraint.
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* \note The halfplane to the left of the line is the region of
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* permissible velocities with respect to the specified
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* ORCA constraint.
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*/
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const Line &getAgentORCALine(size_t agentNo, size_t lineNo) const;
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/**
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* \brief Returns the two-dimensional position of a specified
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* agent.
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* \param agentNo The number of the agent whose
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* two-dimensional position is to be retrieved.
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* \return The present two-dimensional position of the (center of the)
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* agent.
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*/
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const Vector2 &getAgentPosition(size_t agentNo) const;
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/**
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* \brief Returns the two-dimensional preferred velocity of a
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* specified agent.
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* \param agentNo The number of the agent whose
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* two-dimensional preferred velocity is to be
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* retrieved.
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* \return The present two-dimensional preferred velocity of the agent.
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*/
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const Vector2 &getAgentPrefVelocity(size_t agentNo) const;
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/**
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* \brief Returns the radius of a specified agent.
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* \param agentNo The number of the agent whose radius is to
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* be retrieved.
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* \return The present radius of the agent.
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*/
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float getAgentRadius(size_t agentNo) const;
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/**
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* \brief Returns the time horizon of a specified agent.
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* \param agentNo The number of the agent whose time horizon
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* is to be retrieved.
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* \return The present time horizon of the agent.
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*/
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float getAgentTimeHorizon(size_t agentNo) const;
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/**
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* \brief Returns the time horizon with respect to obstacles of a
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* specified agent.
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* \param agentNo The number of the agent whose time horizon
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* with respect to obstacles is to be
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* retrieved.
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* \return The present time horizon with respect to obstacles of the
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* agent.
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*/
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float getAgentTimeHorizonObst(size_t agentNo) const;
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/**
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* \brief Returns the two-dimensional linear velocity of a
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* specified agent.
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* \param agentNo The number of the agent whose
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* two-dimensional linear velocity is to be
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* retrieved.
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* \return The present two-dimensional linear velocity of the agent.
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*/
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const Vector2 &getAgentVelocity(size_t agentNo) const;
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/**
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* \brief Returns the global time of the simulation.
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* \return The present global time of the simulation (zero initially).
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*/
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float getGlobalTime() const;
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/**
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* \brief Returns the count of agents in the simulation.
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* \return The count of agents in the simulation.
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*/
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size_t getNumAgents() const;
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/**
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* \brief Returns the count of obstacle vertices in the simulation.
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* \return The count of obstacle vertices in the simulation.
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*/
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size_t getNumObstacleVertices() const;
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|
|
|
||
|
|
/**
|
||
|
|
* \brief Returns the two-dimensional position of a specified obstacle
|
||
|
|
* vertex.
|
||
|
|
* \param vertexNo The number of the obstacle vertex to be
|
||
|
|
* retrieved.
|
||
|
|
* \return The two-dimensional position of the specified obstacle
|
||
|
|
* vertex.
|
||
|
|
*/
|
||
|
|
const Vector2 &getObstacleVertex(size_t vertexNo) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Returns the number of the obstacle vertex succeeding the
|
||
|
|
* specified obstacle vertex in its polygon.
|
||
|
|
* \param vertexNo The number of the obstacle vertex whose
|
||
|
|
* successor is to be retrieved.
|
||
|
|
* \return The number of the obstacle vertex succeeding the specified
|
||
|
|
* obstacle vertex in its polygon.
|
||
|
|
*/
|
||
|
|
size_t getNextObstacleVertexNo(size_t vertexNo) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Returns the number of the obstacle vertex preceding the
|
||
|
|
* specified obstacle vertex in its polygon.
|
||
|
|
* \param vertexNo The number of the obstacle vertex whose
|
||
|
|
* predecessor is to be retrieved.
|
||
|
|
* \return The number of the obstacle vertex preceding the specified
|
||
|
|
* obstacle vertex in its polygon.
|
||
|
|
*/
|
||
|
|
size_t getPrevObstacleVertexNo(size_t vertexNo) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Returns the time step of the simulation.
|
||
|
|
* \return The present time step of the simulation.
|
||
|
|
*/
|
||
|
|
float getTimeStep() const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Processes the obstacles that have been added so that they
|
||
|
|
* are accounted for in the simulation.
|
||
|
|
* \note Obstacles added to the simulation after this function has
|
||
|
|
* been called are not accounted for in the simulation.
|
||
|
|
*/
|
||
|
|
void processObstacles();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Performs a visibility query between the two specified
|
||
|
|
* points with respect to the obstacles
|
||
|
|
* \param point1 The first point of the query.
|
||
|
|
* \param point2 The second point of the query.
|
||
|
|
* \param radius The minimal distance between the line
|
||
|
|
* connecting the two points and the obstacles
|
||
|
|
* in order for the points to be mutually
|
||
|
|
* visible (optional). Must be non-negative.
|
||
|
|
* \return A boolean specifying whether the two points are mutually
|
||
|
|
* visible. Returns true when the obstacles have not been
|
||
|
|
* processed.
|
||
|
|
*/
|
||
|
|
bool queryVisibility(const Vector2 &point1, const Vector2 &point2,
|
||
|
|
float radius = 0.0f) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the default properties for any new agent that is
|
||
|
|
* added.
|
||
|
|
* \param neighborDist The default maximum distance (center point
|
||
|
|
* to center point) to other agents a new agent
|
||
|
|
* takes into account in the navigation. The
|
||
|
|
* larger this number, the longer he running
|
||
|
|
* time of the simulation. If the number is too
|
||
|
|
* low, the simulation will not be safe.
|
||
|
|
* Must be non-negative.
|
||
|
|
* \param maxNeighbors The default maximum number of other agents a
|
||
|
|
* new agent takes into account in the
|
||
|
|
* navigation. The larger this number, the
|
||
|
|
* longer the running time of the simulation.
|
||
|
|
* If the number is too low, the simulation
|
||
|
|
* will not be safe.
|
||
|
|
* \param timeHorizon The default minimal amount of time for which
|
||
|
|
* a new agent's velocities that are computed
|
||
|
|
* by the simulation are safe with respect to
|
||
|
|
* other agents. The larger this number, the
|
||
|
|
* sooner an agent will respond to the presence
|
||
|
|
* of other agents, but the less freedom the
|
||
|
|
* agent has in choosing its velocities.
|
||
|
|
* Must be positive.
|
||
|
|
* \param timeHorizonObst The default minimal amount of time for which
|
||
|
|
* a new agent's velocities that are computed
|
||
|
|
* by the simulation are safe with respect to
|
||
|
|
* obstacles. The larger this number, the
|
||
|
|
* sooner an agent will respond to the presence
|
||
|
|
* of obstacles, but the less freedom the agent
|
||
|
|
* has in choosing its velocities.
|
||
|
|
* Must be positive.
|
||
|
|
* \param radius The default radius of a new agent.
|
||
|
|
* Must be non-negative.
|
||
|
|
* \param maxSpeed The default maximum speed of a new agent.
|
||
|
|
* Must be non-negative.
|
||
|
|
* \param velocity The default initial two-dimensional linear
|
||
|
|
* velocity of a new agent (optional).
|
||
|
|
*/
|
||
|
|
void setAgentDefaults(float neighborDist, size_t maxNeighbors,
|
||
|
|
float timeHorizon, float timeHorizonObst,
|
||
|
|
float radius, float maxSpeed,
|
||
|
|
const Vector2 &velocity = Vector2());
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the maximum neighbor count of a specified agent.
|
||
|
|
* \param agentNo The number of the agent whose maximum
|
||
|
|
* neighbor count is to be modified.
|
||
|
|
* \param maxNeighbors The replacement maximum neighbor count.
|
||
|
|
*/
|
||
|
|
void setAgentMaxNeighbors(size_t agentNo, size_t maxNeighbors);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the maximum speed of a specified agent.
|
||
|
|
* \param agentNo The number of the agent whose maximum speed
|
||
|
|
* is to be modified.
|
||
|
|
* \param maxSpeed The replacement maximum speed. Must be
|
||
|
|
* non-negative.
|
||
|
|
*/
|
||
|
|
void setAgentMaxSpeed(size_t agentNo, float maxSpeed);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the maximum neighbor distance of a specified agent.
|
||
|
|
* \param agentNo The number of the agent whose maximum
|
||
|
|
* neighbor distance is to be modified.
|
||
|
|
* \param neighborDist The replacement maximum neighbor distance.
|
||
|
|
* Must be non-negative.
|
||
|
|
*/
|
||
|
|
void setAgentNeighborDist(size_t agentNo, float neighborDist);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the two-dimensional position of a specified agent.
|
||
|
|
* \param agentNo The number of the agent whose
|
||
|
|
* two-dimensional position is to be modified.
|
||
|
|
* \param position The replacement of the two-dimensional
|
||
|
|
* position.
|
||
|
|
*/
|
||
|
|
void setAgentPosition(size_t agentNo, const Vector2 &position);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the two-dimensional preferred velocity of a
|
||
|
|
* specified agent.
|
||
|
|
* \param agentNo The number of the agent whose
|
||
|
|
* two-dimensional preferred velocity is to be
|
||
|
|
* modified.
|
||
|
|
* \param prefVelocity The replacement of the two-dimensional
|
||
|
|
* preferred velocity.
|
||
|
|
*/
|
||
|
|
void setAgentPrefVelocity(size_t agentNo, const Vector2 &prefVelocity);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the radius of a specified agent.
|
||
|
|
* \param agentNo The number of the agent whose radius is to
|
||
|
|
* be modified.
|
||
|
|
* \param radius The replacement radius.
|
||
|
|
* Must be non-negative.
|
||
|
|
*/
|
||
|
|
void setAgentRadius(size_t agentNo, float radius);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the time horizon of a specified agent with respect
|
||
|
|
* to other agents.
|
||
|
|
* \param agentNo The number of the agent whose time horizon
|
||
|
|
* is to be modified.
|
||
|
|
* \param timeHorizon The replacement time horizon with respect
|
||
|
|
* to other agents. Must be positive.
|
||
|
|
*/
|
||
|
|
void setAgentTimeHorizon(size_t agentNo, float timeHorizon);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the time horizon of a specified agent with respect
|
||
|
|
* to obstacles.
|
||
|
|
* \param agentNo The number of the agent whose time horizon
|
||
|
|
* with respect to obstacles is to be modified.
|
||
|
|
* \param timeHorizonObst The replacement time horizon with respect to
|
||
|
|
* obstacles. Must be positive.
|
||
|
|
*/
|
||
|
|
void setAgentTimeHorizonObst(size_t agentNo, float timeHorizonObst);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the two-dimensional linear velocity of a specified
|
||
|
|
* agent.
|
||
|
|
* \param agentNo The number of the agent whose
|
||
|
|
* two-dimensional linear velocity is to be
|
||
|
|
* modified.
|
||
|
|
* \param velocity The replacement two-dimensional linear
|
||
|
|
* velocity.
|
||
|
|
*/
|
||
|
|
void setAgentVelocity(size_t agentNo, const Vector2 &velocity);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Sets the time step of the simulation.
|
||
|
|
* \param timeStep The time step of the simulation.
|
||
|
|
* Must be positive.
|
||
|
|
*/
|
||
|
|
void setTimeStep(float timeStep);
|
||
|
|
|
||
|
|
public:
|
||
|
|
std::vector<Agent2D *> agents_;
|
||
|
|
Agent2D *defaultAgent_;
|
||
|
|
float globalTime_;
|
||
|
|
KdTree2D *kdTree_;
|
||
|
|
std::vector<Obstacle2D *> obstacles_;
|
||
|
|
float timeStep_;
|
||
|
|
|
||
|
|
friend class Agent2D;
|
||
|
|
friend class KdTree2D;
|
||
|
|
friend class Obstacle2D;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* RVO2D_RVO_SIMULATOR_H_ */
|