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/*
* Agent2d.h
* RVO2 Library
*
* 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
*
* 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,
* 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
*
* <https://gamma.cs.unc.edu/RVO2/>
*/
#ifndef RVO2D_AGENT_H_
#define RVO2D_AGENT_H_
/**
* @file Agent2d.h
* @brief Declares the Agent2D class.
*/
#include <cstddef>
#include <cstdint>
#include <utility>
#include <vector>
#include "Line.h"
#include "Vector2.h"
namespace RVO2D {
class KdTree2D;
class Obstacle2D;
/**
* @brief Defines an agent in the simulation.
*/
class Agent2D {
public:
/**
* @brief Constructs an agent instance.
*/
Agent2D();
/**
* @brief Destroys this agent instance.
*/
~Agent2D();
/**
* @brief Computes the neighbors of this agent.
* @param[in] kdTree A pointer to the k-D trees for agents and static
* obstacles in the simulation.
*/
void computeNeighbors(const KdTree2D *kdTree);
/**
* @brief Computes the new velocity of this agent.
* @param[in] timeStep The time step of the simulation.
*/
void computeNewVelocity(float timeStep);
/**
* @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, out] rangeSq The squared range around this agent.
*/
void insertAgentNeighbor(const Agent2D *agent,
float &rangeSq); /* NOLINT(runtime/references) */
/**
* @brief Inserts a static obstacle neighbor into the set of
* neighbors of this agent.
* @param[in] obstacle The number of the static obstacle to be inserted.
* @param[in, out] 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.
* @param[in] timeStep The time step of the simulation.
*/
void update(float timeStep);
/* Not implemented. */
Agent2D(const Agent2D &other);
/* Not implemented. */
Agent2D &operator=(const Agent2D &other);
std::vector<std::pair<float, const Agent2D *> > agentNeighbors_;
std::vector<std::pair<float, const Obstacle2D *> > obstacleNeighbors_;
std::vector<Line> orcaLines_;
Vector2 newVelocity_;
Vector2 position_;
Vector2 prefVelocity_;
Vector2 velocity_;
std::size_t id_;
std::size_t maxNeighbors_;
float maxSpeed_;
float neighborDist_;
float radius_;
float timeHorizon_;
float timeHorizonObst_;
float height_ = 0.0;
float elevation_ = 0.0;
uint32_t avoidance_layers_ = 1;
uint32_t avoidance_mask_ = 1;
float avoidance_priority_ = 1.0;
friend class KdTree2D;
friend class RVOSimulator2D;
};
} /* namespace RVO */
#endif /* RVO2D_AGENT_H_ */
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