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/*
* 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_ */
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