1 files changed, 29 insertions, 43 deletions
diff --git a/thirdparty/rvo2/rvo2_2d/Obstacle2d.h b/thirdparty/rvo2/rvo2_2d/Obstacle2d.h
index 8d9b61c13c..9ba5937053 100644
--- a/thirdparty/rvo2/rvo2_2d/Obstacle2d.h
+++ b/thirdparty/rvo2/rvo2_2d/Obstacle2d.h
@@ -2,14 +2,13 @@
  * Obstacle2d.h
  * RVO2 Library
  *
- * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
- * SPDX-License-Identifier: Apache-2.0
+ * 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
  *
- *     https://www.apache.org/licenses/LICENSE-2.0
+ *     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,
@@ -28,59 +27,46 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <https://gamma.cs.unc.edu/RVO2/>
+ * <http://gamma.cs.unc.edu/RVO2/>
  */
 
 #ifndef RVO2D_OBSTACLE_H_
 #define RVO2D_OBSTACLE_H_
 
 /**
- * @file  Obstacle2d.h
- * @brief Declares the Obstacle2D class.
+ * \file       Obstacle2d.h
+ * \brief      Contains the Obstacle class.
  */
 
-#include <cstddef>
-#include <cstdint>
-
-#include "Vector2.h"
+#include "Definitions.h"
 
 namespace RVO2D {
-/**
- * @brief Defines static obstacles in the simulation.
- */
-class Obstacle2D {
- public:
-  /**
-   * @brief Constructs a static obstacle instance.
-   */
-  Obstacle2D();
-
-  /**
-   * @brief Destroys this static obstacle instance.
-   */
-  ~Obstacle2D();
-
-  /* Not implemented. */
-  Obstacle2D(const Obstacle2D &other);
+	/**
+	 * \brief      Defines static obstacles in the simulation.
+	 */
+	class Obstacle2D {
+	public:
+		/**
+		 * \brief      Constructs a static obstacle instance.
+		 */
+		Obstacle2D();
 
-  /* Not implemented. */
-  Obstacle2D &operator=(const Obstacle2D &other);
+		bool isConvex_;
+		Obstacle2D *nextObstacle_;
+		Vector2 point_;
+		Obstacle2D *prevObstacle_;
+		Vector2 unitDir_;
 
-  Vector2 direction_;
-  Vector2 point_;
-  Obstacle2D *next_;
-  Obstacle2D *previous_;
-  std::size_t id_;
-  bool isConvex_;
+		float height_ = 1.0;
+		float elevation_ = 0.0;
+		uint32_t avoidance_layers_ = 1;
 
-  float height_ = 1.0;
-	float elevation_ = 0.0;
-	uint32_t avoidance_layers_ = 1;
+		size_t id_;
 
-  friend class Agent2D;
-  friend class KdTree2D;
-  friend class RVOSimulator2D;
-};
-} /* namespace RVO2D */
+		friend class Agent2D;
+		friend class KdTree2D;
+		friend class RVOSimulator2D;
+	};
+}
 
 #endif /* RVO2D_OBSTACLE_H_ */