diff options
Diffstat (limited to 'thirdparty/rvo2/rvo2_3d/Agent3d.h')
| -rw-r--r-- | thirdparty/rvo2/rvo2_3d/Agent3d.h | 148 |
1 files changed, 83 insertions, 65 deletions
diff --git a/thirdparty/rvo2/rvo2_3d/Agent3d.h b/thirdparty/rvo2/rvo2_3d/Agent3d.h index d99e3cac66..353d64ce82 100644 --- a/thirdparty/rvo2/rvo2_3d/Agent3d.h +++ b/thirdparty/rvo2/rvo2_3d/Agent3d.h @@ -1,14 +1,15 @@ /* - * Agent.h + * Agent3d.h * RVO2-3D 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, @@ -27,80 +28,97 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ -/** - * \file Agent.h - * \brief Contains the Agent class. - */ #ifndef RVO3D_AGENT_H_ #define RVO3D_AGENT_H_ +/** + * @file Agent3d.h + * @brief Contains the Agent3D class. + */ + #include <cstddef> #include <cstdint> #include <utility> #include <vector> -#include "RVOSimulator3d.h" +#include "Plane.h" #include "Vector3.h" namespace RVO3D { - /** - * \brief Defines an agent in the simulation. - */ - class Agent3D { - public: - /** - * \brief Constructs an agent instance. - * \param sim The simulator instance. - */ - explicit Agent3D(); - - /** - * \brief Computes the neighbors of this agent. - */ - void computeNeighbors(RVOSimulator3D *sim_); - - /** - * \brief Computes the new velocity of this agent. - */ - void computeNewVelocity(RVOSimulator3D *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 Agent3D *agent, float &rangeSq); - - /** - * \brief Updates the three-dimensional position and three-dimensional velocity of this agent. - */ - void update(RVOSimulator3D *sim_); - - Vector3 newVelocity_; - Vector3 position_; - Vector3 prefVelocity_; - Vector3 velocity_; - RVOSimulator3D *sim_; - size_t id_; - size_t maxNeighbors_; - float maxSpeed_; - float neighborDist_; - float radius_; - float timeHorizon_; - float timeHorizonObst_; - std::vector<std::pair<float, const Agent3D *> > agentNeighbors_; - std::vector<Plane> orcaPlanes_; - float height_ = 1.0; - uint32_t avoidance_layers_ = 1; - uint32_t avoidance_mask_ = 1; - float avoidance_priority_ = 1.0; - - friend class KdTree3D; - friend class RVOSimulator3D; - }; -} +class RVOSimulator3D; + +/** + * @brief Defines an agent in the simulation. + */ +class Agent3D { + public: + /** + * @brief Constructs an agent instance. + * @param[in] sim The simulator instance. + */ + explicit Agent3D(); + + /** + * @brief Destroys this agent instance. + */ + ~Agent3D(); + + /** + * @brief Computes the neighbors of this agent. + */ + void computeNeighbors(RVOSimulator3D *sim_); + + /** + * @brief Computes the new velocity of this agent. + */ + void computeNewVelocity(RVOSimulator3D *sim_); + + /** + * @brief Inserts an agent neighbor into the set of neighbors of this + * agent. + * @param[in] agent A pointer to the agent to be inserted. + * @param[in] rangeSq The squared range around this agent. + */ + void insertAgentNeighbor(const Agent3D *agent, + float &rangeSq); /* NOLINT(runtime/references) */ + + /** + * @brief Updates the three-dimensional position and three-dimensional + * velocity of this agent. + */ + void update(RVOSimulator3D *sim_);; + + /* Not implemented. */ + Agent3D(const Agent3D &other); + + /* Not implemented. */ + Agent3D &operator=(const Agent3D &other); + + Vector3 newVelocity_; + Vector3 position_; + Vector3 prefVelocity_; + Vector3 velocity_; + RVOSimulator3D *sim_; + std::size_t id_; + std::size_t maxNeighbors_; + float maxSpeed_; + float neighborDist_; + float radius_; + float timeHorizon_; + float timeHorizonObst_; + std::vector<std::pair<float, const Agent3D *> > agentNeighbors_; + std::vector<Plane> orcaPlanes_; + float height_ = 1.0; + uint32_t avoidance_layers_ = 1; + uint32_t avoidance_mask_ = 1; + float avoidance_priority_ = 1.0; + + friend class KdTree3D; + friend class RVOSimulator3D; +}; +} /* namespace RVO3D */ #endif /* RVO3D_AGENT_H_ */ |