diff options
Diffstat (limited to 'thirdparty/rvo2/rvo2_2d/Agent2d.h')
| -rw-r--r-- | thirdparty/rvo2/rvo2_2d/Agent2d.h | 160 |
1 files changed, 160 insertions, 0 deletions
diff --git a/thirdparty/rvo2/rvo2_2d/Agent2d.h b/thirdparty/rvo2/rvo2_2d/Agent2d.h new file mode 100644 index 0000000000..c666c2de7b --- /dev/null +++ b/thirdparty/rvo2/rvo2_2d/Agent2d.h @@ -0,0 +1,160 @@ +/* + * Agent2d.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_AGENT_H_ +#define RVO2D_AGENT_H_ + +/** + * \file Agent2d.h + * \brief Contains the Agent class. + */ + +#include "Definitions.h" +#include "RVOSimulator2d.h" + +namespace RVO2D { + /** + * \brief Defines an agent in the simulation. + */ + class Agent2D { + public: + /** + * \brief Constructs an agent instance. + * \param sim The simulator instance. + */ + explicit Agent2D(); + + /** + * \brief Computes the neighbors of this agent. + */ + void computeNeighbors(RVOSimulator2D *sim_); + + /** + * \brief Computes the new velocity of this agent. + */ + void computeNewVelocity(RVOSimulator2D *sim_); + + /** + * \brief Inserts an agent neighbor into the set of neighbors of + * this agent. + * \param agent A pointer to the agent to be inserted. + * \param rangeSq The squared range around this agent. + */ + void insertAgentNeighbor(const Agent2D *agent, float &rangeSq); + + /** + * \brief Inserts a static obstacle neighbor into the set of neighbors + * of this agent. + * \param obstacle The number of the static obstacle to be + * inserted. + * \param rangeSq The squared range around this agent. + */ + void insertObstacleNeighbor(const Obstacle2D *obstacle, float rangeSq); + + /** + * \brief Updates the two-dimensional position and two-dimensional + * velocity of this agent. + */ + void update(RVOSimulator2D *sim_); + + std::vector<std::pair<float, const Agent2D *> > agentNeighbors_; + size_t maxNeighbors_; + float maxSpeed_; + float neighborDist_; + Vector2 newVelocity_; + std::vector<std::pair<float, const Obstacle2D *> > obstacleNeighbors_; + std::vector<Line> orcaLines_; + Vector2 position_; + Vector2 prefVelocity_; + float radius_; + float timeHorizon_; + float timeHorizonObst_; + Vector2 velocity_; + float height_ = 0.0; + float elevation_ = 0.0; + uint32_t avoidance_layers_ = 1; + uint32_t avoidance_mask_ = 1; + float avoidance_priority_ = 1.0; + + size_t id_; + + friend class KdTree2D; + friend class RVOSimulator2D; + }; + + /** + * \relates Agent + * \brief Solves a one-dimensional linear program on a specified line + * subject to linear constraints defined by lines and a circular + * constraint. + * \param lines Lines defining the linear constraints. + * \param lineNo The specified line constraint. + * \param radius The radius of the circular constraint. + * \param optVelocity The optimization velocity. + * \param directionOpt True if the direction should be optimized. + * \param result A reference to the result of the linear program. + * \return True if successful. + */ + bool linearProgram1(const std::vector<Line> &lines, size_t lineNo, + float radius, const Vector2 &optVelocity, + bool directionOpt, Vector2 &result); + + /** + * \relates Agent + * \brief Solves a two-dimensional linear program subject to linear + * constraints defined by lines and a circular constraint. + * \param lines Lines defining the linear constraints. + * \param radius The radius of the circular constraint. + * \param optVelocity The optimization velocity. + * \param directionOpt True if the direction should be optimized. + * \param result A reference to the result of the linear program. + * \return The number of the line it fails on, and the number of lines if successful. + */ + size_t linearProgram2(const std::vector<Line> &lines, float radius, + const Vector2 &optVelocity, bool directionOpt, + Vector2 &result); + + /** + * \relates Agent + * \brief Solves a two-dimensional linear program subject to linear + * constraints defined by lines and a circular constraint. + * \param lines Lines defining the linear constraints. + * \param numObstLines Count of obstacle lines. + * \param beginLine The line on which the 2-d linear program failed. + * \param radius The radius of the circular constraint. + * \param result A reference to the result of the linear program. + */ + void linearProgram3(const std::vector<Line> &lines, size_t numObstLines, size_t beginLine, + float radius, Vector2 &result); +} + +#endif /* RVO2D_AGENT_H_ */ |