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Diffstat (limited to 'thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h')
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1 files changed, 624 insertions, 551 deletions
diff --git a/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h b/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h index e074e0fe0e..638c357437 100644 --- a/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h +++ b/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h @@ -1,14 +1,15 @@ /* - * RVOSimulator2d.h + * RVOSimulator.h * RVO2 Library * - * Copyright 2008 University of North Carolina at Chapel Hill + * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill + * SPDX-License-Identifier: Apache-2.0 * * 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 + * https://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, @@ -27,566 +28,638 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ #ifndef RVO2D_RVO_SIMULATOR_H_ #define RVO2D_RVO_SIMULATOR_H_ /** - * \file RVOSimulator2d.h - * \brief Contains the RVOSimulator2D class. + * @file RVOSimulator2d.h + * @brief Declares and defines 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; - }; -} +class Agent2D; +class KdTree2D; +class Line; +class Obstacle2D; +class Vector2; + +/** + * @relates RVOSimulator2D + * @brief Error value. A value equal to the largest unsigned integer that is + * returned in case of an error by functions in RVO::RVOSimulator. + */ +extern const std::size_t RVO2D_ERROR; + +/** + * @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[in] timeStep The time step of the simulation. Must be + * positive. + * @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. + */ + RVOSimulator2D(float timeStep, float neighborDist, std::size_t maxNeighbors, + float timeHorizon, float timeHorizonObst, float radius, + float maxSpeed); + + /** + * @brief Constructs a simulator instance and sets the default properties + * for any new agent that is added. + * @param[in] timeStep The time step of the simulation. Must be + * positive. + * @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. + */ + RVOSimulator2D(float timeStep, float neighborDist, std::size_t maxNeighbors, + float timeHorizon, float timeHorizonObst, float radius, + float maxSpeed, const Vector2 &velocity); + + /** + * @brief Destroys this simulator instance. + */ + ~RVOSimulator2D(); + + /** + * @brief Adds a new agent with default properties to the simulation. + * @param[in] position The two-dimensional starting position of this agent. + * @return The number of the agent, or RVO::RVO2D_ERROR when the agent + * defaults have not been set. + */ + std::size_t addAgent(const Vector2 &position); + + /** + * @brief Adds a new agent to the simulation. + * @param[in] position The two-dimensional starting position of this + * agent. + * @param[in] 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[in] 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[in] 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[in] 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[in] radius The radius of this agent. Must be non-negative. + * @param[in] maxSpeed The maximum speed of this agent. Must be + * non-negative. + * @return The number of the agent. + */ + std::size_t addAgent(const Vector2 &position, float neighborDist, + std::size_t maxNeighbors, float timeHorizon, + float timeHorizonObst, float radius, float maxSpeed); + + /** + * @brief Adds a new agent to the simulation. + * @param[in] position The two-dimensional starting position of this + * agent. + * @param[in] 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[in] 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[in] 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[in] 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[in] radius The radius of this agent. Must be non-negative. + * @param[in] maxSpeed The maximum speed of this agent. Must be + * non-negative. + * @param[in] velocity The initial two-dimensional linear velocity of + * this agent. + * @return The number of the agent. + */ + std::size_t addAgent(const Vector2 &position, float neighborDist, + std::size_t maxNeighbors, float timeHorizon, + float timeHorizonObst, float radius, float maxSpeed, + const Vector2 &velocity); + + /** + * @brief Adds a new obstacle to the simulation. + * @param[in] vertices List of the vertices of the polygonal obstacle in + * counterclockwise order. + * @return The number of the first vertex of the obstacle, or + * RVO::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. + */ + std::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[in] agentNo The number of the agent whose agent neighbor is to be + * retrieved. + * @param[in] neighborNo The number of the agent neighbor to be retrieved. + * @return The number of the neighboring agent. + */ + std::size_t getAgentAgentNeighbor(std::size_t agentNo, + std::size_t neighborNo) const; + + /** + * @brief Returns the maximum neighbor count of a specified agent. + * @param[in] agentNo The number of the agent whose maximum neighbor count is + * to be retrieved. + * @return The present maximum neighbor count of the agent. + */ + std::size_t getAgentMaxNeighbors(std::size_t agentNo) const; + + /** + * @brief Returns the maximum speed of a specified agent. + * @param[in] agentNo The number of the agent whose maximum speed is to be + * retrieved. + * @return The present maximum speed of the agent. + */ + float getAgentMaxSpeed(std::size_t agentNo) const; + + /** + * @brief Returns the maximum neighbor distance of a specified agent. + * @param[in] 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(std::size_t agentNo) const; + + /** + * @brief Returns the count of agent neighbors taken into account to + * compute the current velocity for the specified agent. + * @param[in] 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. + */ + std::size_t getAgentNumAgentNeighbors(std::size_t agentNo) const; + + /** + * @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; + + /** + * @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. + * @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. + * @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); + + /** + * @brief Sets the time horizon of a specified agent with respect to + * obstacles. + * @param[in] agentNo The number of the agent whose time horizon with + * respect to obstacles is to be modified. + * @param[in] timeHorizonObst The replacement time horizon with respect to + * obstacles. Must be positive. + */ + void setAgentTimeHorizonObst(std::size_t agentNo, float timeHorizonObst); + + /** + * @brief Sets 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 modified. + * @param[in] velocity The replacement two-dimensional linear velocity. + */ + void setAgentVelocity(std::size_t agentNo, const Vector2 &velocity); + + /** + * @brief Sets the time step of the simulation. + * @param[in] timeStep The time step of the simulation. Must be positive. + */ + void setTimeStep(float timeStep) { timeStep_ = timeStep; } + + public: + /* Not implemented. */ + RVOSimulator2D(const RVOSimulator2D &other); + + /* Not implemented. */ + RVOSimulator2D &operator=(const RVOSimulator2D &other); + + std::vector<Agent2D *> agents_; + std::vector<Obstacle2D *> obstacles_; + Agent2D *defaultAgent_; + KdTree2D *kdTree_; + float globalTime_; + float timeStep_; + + friend class KdTree2D; +}; +} /* namespace RVO2D */ #endif /* RVO2D_RVO_SIMULATOR_H_ */ |