2023-01-10 07:14:16 +01:00
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/*
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2023-06-11 00:56:21 +02:00
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* RVOSimulator.h
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2023-01-10 07:14:16 +01:00
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* RVO2 Library
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*
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2023-06-11 00:56:21 +02:00
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* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
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* SPDX-License-Identifier: Apache-2.0
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2023-01-10 07:14:16 +01:00
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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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2023-06-11 00:56:21 +02:00
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* https://www.apache.org/licenses/LICENSE-2.0
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2023-01-10 07:14:16 +01:00
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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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2023-06-11 00:56:21 +02:00
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* <https://gamma.cs.unc.edu/RVO2/>
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2023-01-10 07:14:16 +01:00
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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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2023-06-11 00:56:21 +02:00
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* @file RVOSimulator2d.h
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* @brief Declares and defines the RVOSimulator2D class.
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2023-01-10 07:14:16 +01:00
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*/
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#include <cstddef>
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#include <vector>
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namespace RVO2D {
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2023-06-11 00:56:21 +02:00
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class Agent2D;
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class KdTree2D;
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class Line;
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class Obstacle2D;
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class Vector2;
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/**
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* @relates RVOSimulator2D
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* @brief Error value. A value equal to the largest unsigned integer that is
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* returned in case of an error by functions in RVO::RVOSimulator.
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*/
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extern const std::size_t RVO2D_ERROR;
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/**
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* @brief Defines the simulation. The main class of the library that contains
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* 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[in] timeStep The time step of the simulation. Must be
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* positive.
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* @param[in] neighborDist The default maximum distance center-point to
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* center-point to other agents a new agent takes
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* into account in the navigation. The larger this
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* number, the longer he running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe. Must be
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* non-negative.
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* @param[in] maxNeighbors The default maximum number of other agents a
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* new agent takes into account in the navigation.
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* The 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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* @param[in] timeHorizon The default minimal amount of time for which a
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* new 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 an
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* agent will respond to the presence of other
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* agents, but the less freedom the agent has in
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* choosing its velocities. Must be positive.
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* @param[in] timeHorizonObst The default minimal amount of time for which a
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* new agent's velocities that are computed by the
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* simulation are safe with respect to obstacles.
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* The larger this number, the sooner an agent will
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* respond to the presence of obstacles, but the
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* less freedom the agent has in choosing its
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* velocities. Must be positive.
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* @param[in] radius The default radius of a new agent. Must be
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* non-negative.
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* @param[in] maxSpeed The default maximum speed of a new agent. Must
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* be non-negative.
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*/
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RVOSimulator2D(float timeStep, float neighborDist, std::size_t maxNeighbors,
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float timeHorizon, float timeHorizonObst, float radius,
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float maxSpeed);
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/**
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* @brief Constructs a simulator instance and sets the default properties
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* for any new agent that is added.
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* @param[in] timeStep The time step of the simulation. Must be
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* positive.
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* @param[in] neighborDist The default maximum distance center-point to
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* center-point to other agents a new agent takes
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* into account in the navigation. The larger this
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* number, the longer he running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe. Must be
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* non-negative.
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* @param[in] maxNeighbors The default maximum number of other agents a new
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* agent takes into account in the navigation. The
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* larger this number, the longer the running time
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* of the simulation. If the number is too low, the
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* simulation will not be safe.
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* @param[in] timeHorizon The default minimal amount of time for which a
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* new 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 an
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* agent will respond to the presence of other
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* agents, but the less freedom the agent has in
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* choosing its velocities. Must be positive.
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* @param[in] timeHorizonObst The default minimal amount of time for which a
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* new agent's velocities that are computed by the
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* simulation are safe with respect to obstacles.
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* The larger this number, the sooner an agent will
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* respond to the presence of obstacles, but the
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* less freedom the agent has in choosing its
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* velocities. Must be positive.
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* @param[in] radius The default radius of a new agent. Must be
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* non-negative.
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* @param[in] maxSpeed The default maximum speed of a new agent. Must
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* be non-negative.
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* @param[in] velocity The default initial two-dimensional linear
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* velocity of a new agent.
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*/
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RVOSimulator2D(float timeStep, float neighborDist, std::size_t maxNeighbors,
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float timeHorizon, float timeHorizonObst, float radius,
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float maxSpeed, const Vector2 &velocity);
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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 simulation.
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* @param[in] position The two-dimensional starting position of this agent.
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* @return The number of the agent, or RVO::RVO2D_ERROR when the agent
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* defaults have not been set.
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*/
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std::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[in] position The two-dimensional starting position of this
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* agent.
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* @param[in] neighborDist The maximum distance center-point to
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* center-point to other agents this agent takes
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* into account in the navigation. The larger this
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* number, the longer the running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe. Must be
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* non-negative.
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* @param[in] maxNeighbors The maximum number of other agents this agent
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* takes into account in the navigation. The larger
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* this number, the longer the running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe.
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* @param[in] 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 this
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* agent will respond to the presence of other
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* agents, but the less freedom this agent has in
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* choosing its velocities. Must be positive.
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* @param[in] 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 obstacles
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* The larger this number, the sooner this agent
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* will respond to the presence of obstacles, but
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* the less freedom this agent has in choosing its
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* velocities. Must be positive.
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* @param[in] radius The radius of this agent. Must be non-negative.
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* @param[in] maxSpeed The maximum speed of this agent. Must be
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* non-negative.
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* @return The number of the agent.
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*/
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std::size_t addAgent(const Vector2 &position, float neighborDist,
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std::size_t maxNeighbors, float timeHorizon,
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float timeHorizonObst, float radius, float maxSpeed);
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/**
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* @brief Adds a new agent to the simulation.
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* @param[in] position The two-dimensional starting position of this
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* agent.
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* @param[in] neighborDist The maximum distance center-point to
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* center-point to other agents this agent takes
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* into account in the navigation. The larger this
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* number, the longer the running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe. Must be
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* non-negative.
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* @param[in] maxNeighbors The maximum number of other agents this agent
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* takes into account in the navigation. The larger
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* this number, the longer the running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe.
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* @param[in] 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 this
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* agent will respond to the presence of other
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* agents, but the less freedom this agent has in
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* choosing its velocities. Must be positive.
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* @param[in] 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 obstacles.
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* The larger this number, the sooner this agent
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* will respond to the presence of obstacles, but
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* the less freedom this agent has in choosing its
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* velocities. Must be positive.
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* @param[in] radius The radius of this agent. Must be non-negative.
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* @param[in] maxSpeed The maximum speed of this agent. Must be
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* non-negative.
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* @param[in] velocity The initial two-dimensional linear velocity of
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* this agent.
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* @return The number of the agent.
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*/
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std::size_t addAgent(const Vector2 &position, float neighborDist,
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std::size_t maxNeighbors, float timeHorizon,
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float timeHorizonObst, float radius, float maxSpeed,
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const Vector2 &velocity);
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/**
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* @brief Adds a new obstacle to the simulation.
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* @param[in] vertices List of the vertices of the polygonal obstacle in
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* counterclockwise order.
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* @return The number of the first vertex of the obstacle, or
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* RVO::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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std::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 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 agent.
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* @param[in] agentNo The number of the agent whose agent neighbor is to be
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* retrieved.
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* @param[in] neighborNo The number of the agent neighbor to be retrieved.
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* @return The number of the neighboring agent.
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*/
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std::size_t getAgentAgentNeighbor(std::size_t agentNo,
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std::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[in] agentNo The number of the agent whose maximum neighbor count is
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* to be retrieved.
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* @return The present maximum neighbor count of the agent.
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*/
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std::size_t getAgentMaxNeighbors(std::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[in] agentNo The number of the agent whose maximum speed is to be
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* retrieved.
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* @return The present maximum speed of the agent.
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*/
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float getAgentMaxSpeed(std::size_t agentNo) const;
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/**
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* @brief Returns the maximum neighbor distance of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum neighbor distance
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* 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(std::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[in] agentNo The number of the agent whose count of agent neighbors
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* is to be retrieved.
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* @return The count of agent neighbors taken into account to compute the
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* current velocity for the specified agent.
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*/
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std::size_t getAgentNumAgentNeighbors(std::size_t agentNo) const;
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|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the count of obstacle neighbors taken into account to
|
|
|
|
|
* compute the current velocity for the specified agent.
|
|
|
|
|
* @param[in] 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.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getAgentNumObstacleNeighbors(std::size_t agentNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the count of ORCA constraints used to compute the
|
|
|
|
|
* current velocity for the specified agent.
|
|
|
|
|
* @param[in] 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.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getAgentNumORCALines(std::size_t agentNo) const;
|
|
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|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the specified obstacle neighbor of the specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose obstacle neighbor is to
|
|
|
|
|
* be retrieved.
|
|
|
|
|
* @param[in] neighborNo The number of the obstacle neighbor to be retrieved.
|
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|
|
* @return The number of the first vertex of the neighboring obstacle edge.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getAgentObstacleNeighbor(std::size_t agentNo,
|
|
|
|
|
std::size_t neighborNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the specified ORCA constraint of the specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose ORCA constraint is to be
|
|
|
|
|
* retrieved.
|
|
|
|
|
* @param[in] lineNo The number of the ORCA constraint to be retrieved.
|
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|
|
* @return A line representing the specified ORCA constraint.
|
|
|
|
|
* @note The half-plane to the left of the line is the region of
|
|
|
|
|
* permissible velocities with respect to the specified ORCA
|
|
|
|
|
* constraint.
|
|
|
|
|
*/
|
|
|
|
|
const Line &getAgentORCALine(std::size_t agentNo, std::size_t lineNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the two-dimensional position of a specified agent.
|
|
|
|
|
* @param[in] 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(std::size_t agentNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the two-dimensional preferred velocity of a specified
|
|
|
|
|
* agent.
|
|
|
|
|
* @param[in] 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(std::size_t agentNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the radius of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose radius is to be retrieved.
|
|
|
|
|
* @return The present radius of the agent.
|
|
|
|
|
*/
|
|
|
|
|
float getAgentRadius(std::size_t agentNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the time horizon of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose time horizon is to be
|
|
|
|
|
* retrieved.
|
|
|
|
|
* @return The present time horizon of the agent.
|
|
|
|
|
*/
|
|
|
|
|
float getAgentTimeHorizon(std::size_t agentNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the time horizon with respect to obstacles of a
|
|
|
|
|
* specified agent.
|
|
|
|
|
* @param[in] 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(std::size_t agentNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the two-dimensional linear velocity of a specified
|
|
|
|
|
* agent.
|
|
|
|
|
* @param[in] 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(std::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 { return globalTime_; }
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the count of agents in the simulation.
|
|
|
|
|
* @return The count of agents in the simulation.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getNumAgents() const { return agents_.size(); }
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the count of obstacle vertices in the simulation.
|
|
|
|
|
* @return The count of obstacle vertices in the simulation.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getNumObstacleVertices() const { return obstacles_.size(); }
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the two-dimensional position of a specified obstacle
|
|
|
|
|
* vertex.
|
|
|
|
|
* @param[in] vertexNo The number of the obstacle vertex to be retrieved.
|
|
|
|
|
* @return The two-dimensional position of the specified obstacle vertex.
|
|
|
|
|
*/
|
|
|
|
|
const Vector2 &getObstacleVertex(std::size_t vertexNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the number of the obstacle vertex succeeding the
|
|
|
|
|
* specified obstacle vertex in its polygon.
|
|
|
|
|
* @param[in] 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.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getNextObstacleVertexNo(std::size_t vertexNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the number of the obstacle vertex preceding the
|
|
|
|
|
* specified obstacle vertex in its polygon.
|
|
|
|
|
* @param[in] 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.
|
|
|
|
|
*/
|
|
|
|
|
std::size_t getPrevObstacleVertexNo(std::size_t vertexNo) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Returns the time step of the simulation.
|
|
|
|
|
* @return The present time step of the simulation.
|
|
|
|
|
*/
|
|
|
|
|
float getTimeStep() const { return timeStep_; }
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @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[in] point1 The first point of the query.
|
|
|
|
|
* @param[in] point2 The second point of the query.
|
|
|
|
|
* @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) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Performs a visibility query between the two specified points
|
|
|
|
|
* with respect to the obstacles
|
|
|
|
|
* @param[in] point1 The first point of the query.
|
|
|
|
|
* @param[in] point2 The second point of the query.
|
|
|
|
|
* @param[in] radius The minimal distance between the line connecting the two
|
|
|
|
|
* points and the obstacles in order for the points to be
|
|
|
|
|
* mutually visible. 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) const;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the default properties for any new agent that is added.
|
|
|
|
|
* @param[in] 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[in] 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[in] 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[in] 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[in] radius The default radius of a new agent. Must be
|
|
|
|
|
* non-negative.
|
|
|
|
|
* @param[in] maxSpeed The default maximum speed of a new agent. Must
|
|
|
|
|
* be non-negative.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentDefaults(float neighborDist, std::size_t maxNeighbors,
|
|
|
|
|
float timeHorizon, float timeHorizonObst, float radius,
|
|
|
|
|
float maxSpeed);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the default properties for any new agent that is added.
|
|
|
|
|
* @param[in] 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[in] 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[in] 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[in] 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[in] radius The default radius of a new agent. Must be
|
|
|
|
|
* non-negative.
|
|
|
|
|
* @param[in] maxSpeed The default maximum speed of a new agent. Must
|
|
|
|
|
* be non-negative.
|
|
|
|
|
* @param[in] velocity The default initial two-dimensional linear
|
|
|
|
|
* velocity of a new agent.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentDefaults(float neighborDist, std::size_t maxNeighbors,
|
|
|
|
|
float timeHorizon, float timeHorizonObst, float radius,
|
|
|
|
|
float maxSpeed, const Vector2 &velocity);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the maximum neighbor count of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose maximum neighbor
|
|
|
|
|
* count is to be modified.
|
|
|
|
|
* @param[in] maxNeighbors The replacement maximum neighbor count.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentMaxNeighbors(std::size_t agentNo, std::size_t maxNeighbors);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the maximum speed of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose maximum speed is to be
|
|
|
|
|
* modified.
|
|
|
|
|
* @param[in] maxSpeed The replacement maximum speed. Must be non-negative.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentMaxSpeed(std::size_t agentNo, float maxSpeed);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the maximum neighbor distance of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose maximum neighbor
|
|
|
|
|
* distance is to be modified.
|
|
|
|
|
* @param[in] neighborDist The replacement maximum neighbor distance. Must be
|
|
|
|
|
* non-negative.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentNeighborDist(std::size_t agentNo, float neighborDist);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the two-dimensional position of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose two-dimensional position
|
|
|
|
|
* is to be modified.
|
|
|
|
|
* @param[in] position The replacement of the two-dimensional position.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentPosition(std::size_t agentNo, const Vector2 &position);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the two-dimensional preferred velocity of a specified
|
|
|
|
|
* agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose two-dimensional
|
|
|
|
|
* preferred velocity is to be modified.
|
|
|
|
|
* @param[in] prefVelocity The replacement of the two-dimensional preferred
|
|
|
|
|
* velocity.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentPrefVelocity(std::size_t agentNo, const Vector2 &prefVelocity);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the radius of a specified agent.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose radius is to be modified.
|
|
|
|
|
* @param[in] radius The replacement radius. Must be non-negative.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentRadius(std::size_t agentNo, float radius);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Sets the time horizon of a specified agent with respect to other
|
|
|
|
|
* agents.
|
|
|
|
|
* @param[in] agentNo The number of the agent whose time horizon is to be
|
|
|
|
|
* modified.
|
|
|
|
|
* @param[in] timeHorizon The replacement time horizon with respect to other
|
|
|
|
|
* agents. Must be positive.
|
|
|
|
|
*/
|
|
|
|
|
void setAgentTimeHorizon(std::size_t agentNo, float timeHorizon);
|
|
|
|
|
|
|
|
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/**
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* @brief Sets the time horizon of a specified agent with respect to
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* obstacles.
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* @param[in] agentNo The number of the agent whose time horizon with
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* respect to obstacles is to be modified.
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* @param[in] timeHorizonObst The replacement time horizon with respect to
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* obstacles. Must be positive.
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*/
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void setAgentTimeHorizonObst(std::size_t agentNo, float timeHorizonObst);
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/**
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* @brief Sets the two-dimensional linear velocity of a specified agent.
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* @param[in] agentNo The number of the agent whose two-dimensional linear
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* velocity is to be modified.
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* @param[in] velocity The replacement two-dimensional linear velocity.
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*/
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void setAgentVelocity(std::size_t agentNo, const Vector2 &velocity);
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/**
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* @brief Sets the time step of the simulation.
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* @param[in] timeStep The time step of the simulation. Must be positive.
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*/
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void setTimeStep(float timeStep) { timeStep_ = timeStep; }
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public:
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/* Not implemented. */
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RVOSimulator2D(const RVOSimulator2D &other);
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/* Not implemented. */
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RVOSimulator2D &operator=(const RVOSimulator2D &other);
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std::vector<Agent2D *> agents_;
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std::vector<Obstacle2D *> obstacles_;
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Agent2D *defaultAgent_;
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KdTree2D *kdTree_;
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float globalTime_;
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float timeStep_;
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friend class KdTree2D;
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};
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} /* namespace RVO2D */
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2023-01-10 07:14:16 +01:00
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#endif /* RVO2D_RVO_SIMULATOR_H_ */
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