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