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ORCAAgent.h
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38 
44 #ifndef __ORCA_AGENT_H__
45 #define __ORCA_AGENT_H__
46 
47 #include "BaseAgent.h"
48 #include "Math/Line.h"
49 
50 namespace ORCA {
55  public:
59  Agent();
60 
64  ~Agent();
65 
69  void computeNewVelocity();
70 
76  size_t computeORCALines();
77 
81  std::vector<Menge::Math::Line> _orcaLines;
82 
86  float _timeHorizon;
87 
92 
93  // DEFAULT VALUES FOR THE AGENT PARAMTERS
97  static const float TAU;
98 
102  static const float TAU_OBST;
103 
104  friend class Simulator;
105 
106  protected:
117  void obstacleLine( size_t obstNbrID, const float invTau, bool flip );
118  };
119 
133  bool linearProgram1(const std::vector<Menge::Math::Line>& lines, size_t lineNo,
134  float radius, const Vector2& optVelocity,
135  bool directionOpt, Vector2& result);
136 
148  size_t linearProgram2(const std::vector<Menge::Math::Line>& lines, float radius,
149  const Vector2& optVelocity, bool directionOpt,
150  Vector2& result);
151 
162  void linearProgram3(const std::vector<Menge::Math::Line>& lines, size_t numObstLines, size_t beginLine,
163  float radius, Vector2& result);
164 } // namespace ORCA
165 
166 #endif
void computeNewVelocity()
Computes the new velocity of this agent.
Definition: ORCAAgent.cpp:381
static const float TAU
The default time horizon for inter-agent interactions.
Definition: ORCAAgent.h:97
size_t linearProgram2(const std::vector< Menge::Math::Line > &lines, float radius, const Vector2 &optVelocity, bool directionOpt, Vector2 &result)
Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular...
Definition: ORCAAgent.cpp:463
size_t computeORCALines()
Based on the neighbors, computes the ORCA lines.
Definition: ORCAAgent.cpp:292
Templated vector in R2.
Definition: Vector2.h:76
void obstacleLine(size_t obstNbrID, const float invTau, bool flip)
Constructs an ORCA line for the given obstacle under the assumption that the agent is on its right si...
Definition: ORCAAgent.cpp:70
float _timeHorizon
The time horizon for inter-agent interactions.
Definition: ORCAAgent.h:86
Contains the definition for an line used as a linear constraint (e.g. ORCA half plane) ...
Agent()
Constructor.
Definition: ORCAAgent.cpp:58
std::vector< Menge::Math::Line > _orcaLines
The set of ORCA constraints.
Definition: ORCAAgent.h:81
bool linearProgram1(const std::vector< Menge::Math::Line > &lines, size_t lineNo, float radius, const Vector2 &optVelocity, bool directionOpt, Vector2 &result)
Solves a one-dimensional linear program on a specified line subject to linear constraints defined by ...
Definition: ORCAAgent.cpp:395
The namespace for the ORCA local collision avoidance model.
Definition: ORCAAgent.cpp:46
Contains the BaseAgent class - the underlying class which defines the basic functionality for all sha...
Defines the simulator operating on ORCA::Agent.
Definition: ORCASimulator.h:59
Defines the basic agent properties and functionality that all simulation agents share.
Definition: BaseAgent.h:123
static const float TAU_OBST
The default time horizon for agent-obstacle interactions.
Definition: ORCAAgent.h:102
float _timeHorizonObst
The time horizon for agent-obstacle interactions.
Definition: ORCAAgent.h:91
~Agent()
Destroys this agent instance.
Definition: ORCAAgent.cpp:65
void linearProgram3(const std::vector< Menge::Math::Line > &lines, size_t numObstLines, size_t beginLine, float radius, Vector2 &result)
Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular...
Definition: ORCAAgent.cpp:494
Defines an agent in the simulation.
Definition: ORCAAgent.h:54