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/*
* KdTree2d.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_KD_TREE_H_
#define RVO2D_KD_TREE_H_
/**
* @file KdTree2d.h
* @brief Declares the KdTree2D class.
*/
#include <cstddef>
#include <vector>
namespace RVO2D {
class Agent2D;
class Obstacle2D;
class RVOSimulator2D;
class Vector2;
/**
* @brief Defines k-D trees for agents and static obstacles in the simulation.
*/
class KdTree2D {
public:
class AgentTreeNode;
class ObstacleTreeNode;
/**
* @brief Constructs a k-D tree instance.
* @param[in] simulator The simulator instance.
*/
explicit KdTree2D(RVOSimulator2D *simulator);
/**
* @brief Destroys this k-D tree instance.
*/
~KdTree2D();
/**
* @brief Builds an agent k-D tree.
*/
void buildAgentTree(std::vector<Agent2D *> agents);
/**
* @brief Recursive function to build an agent k-D tree.
* @param[in] begin The beginning agent k-D tree node.
* @param[in] end The ending agent k-D tree node.
* @param[in] node The current agent k-D tree node.
*/
void buildAgentTreeRecursive(std::size_t begin, std::size_t end,
std::size_t node);
/**
* @brief Builds an obstacle k-D tree.
*/
void buildObstacleTree(std::vector<Obstacle2D *> obstacles);
/**
* @brief Recursive function to build an obstacle k-D tree.
* @param[in] obstacles List of obstacles from which to build the obstacle k-D
* tree.
*/
ObstacleTreeNode *buildObstacleTreeRecursive(
const std::vector<Obstacle2D *> &obstacles);
/**
* @brief Computes the agent neighbors of the specified agent.
* @param[in] agent A pointer to the agent for which agent neighbors
* are to be computed.
* @param[in, out] rangeSq The squared range around the agent.
*/
void computeAgentNeighbors(
Agent2D *agent, float &rangeSq) const; /* NOLINT(runtime/references) */
/**
* @brief Computes the obstacle neighbors of the specified agent.
* @param[in] agent A pointer to the agent for which obstacle neighbors are
* to be computed.
* @param[in] rangeSq The squared range around the agent.
*/
void computeObstacleNeighbors(Agent2D *agent, float rangeSq) const;
/**
* @brief Deletes the specified obstacle tree node.
* @param[in] node A pointer to the obstacle tree node to be deleted.
*/
void deleteObstacleTree(ObstacleTreeNode *node);
/**
* @brief Recursive function to compute the neighbors of the specified
* agent.
* @param[in] agent A pointer to the agent for which neighbors are to be
* computed.
* @param[in,out] rangeSq The squared range around the agent.
* @param[in] node The current agent k-D tree node.
*/
void queryAgentTreeRecursive(Agent2D *agent,
float &rangeSq, /* NOLINT(runtime/references) */
std::size_t node) const;
/**
* @brief Recursive function to compute the neighbors of the specified
* obstacle.
* @param[in] agent A pointer to the agent for which neighbors are to be
* computed.
* @param[in,out] rangeSq The squared range around the agent.
* @param[in] node The current obstacle k-D tree node.
*/
void queryObstacleTreeRecursive(Agent2D *agent, float rangeSq,
const ObstacleTreeNode *node) const;
/**
* @brief Queries the visibility between two points within a specified
* radius.
* @param[in] vector1 The first point between which visibility is to be
* tested.
* @param[in] vector2 The second point between which visibility is to be
* tested.
* @param[in] radius The radius within which visibility is to be tested.
* @return True if q1 and q2 are mutually visible within the radius; false
* otherwise.
*/
bool queryVisibility(const Vector2 &vector1, const Vector2 &vector2,
float radius) const;
/**
* @brief Recursive function to query the visibility between two points
* within a specified radius.
* @param[in] vector1 The first point between which visibility is to be
* tested.
* @param[in] vector2 The second point between which visibility is to be
* tested.
* @param[in] radius The radius within which visibility is to be tested.
* @param[in] node The current obstacle k-D tree node.
* @return True if q1 and q2 are mutually visible within the radius; false
* otherwise.
*/
bool queryVisibilityRecursive(const Vector2 &vector1, const Vector2 &vector2,
float radius,
const ObstacleTreeNode *node) const;
/* Not implemented. */
KdTree2D(const KdTree2D &other);
/* Not implemented. */
KdTree2D &operator=(const KdTree2D &other);
std::vector<Agent2D *> agents_;
std::vector<AgentTreeNode> agentTree_;
ObstacleTreeNode *obstacleTree_;
RVOSimulator2D *simulator_;
friend class Agent2D;
friend class RVOSimulator2D;
};
} /* namespace RVO2D */
#endif /* RVO2D_KD_TREE_H_ */
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