ORCA::Agent Class Reference

Defines an agent in the simulation. More...

#include <ORCAAgent.h>

Inheritance diagram for ORCA::Agent:

Public Member Functions
	Agent ()
	Constructor.
	~Agent ()
	Destroys this agent instance.
void	computeNewVelocity ()
	Computes the new velocity of this agent.
size_t	computeORCALines ()
	Based on the neighbors, computes the ORCA lines. More...
Public Member Functions inherited from Menge::Agents::BaseAgent
	BaseAgent ()
	Default constructor.
void	initialize ()
	Initializes the agent.
void	update (float timeStep)
	Updates the two-dimensional position and two-dimensional velocity of this agent. More...
void	computeNewVelocity ()
	Given preferred velocity and neighboring agents and obstacles compute a new velocity. More...
const BaseAgent *	getNeighbor (int idx) const
	Returns a pointer to the neighbor with given index. More...
const Obstacle *	getObstacle (int idx) const
	Returns a pointer to the obstacle with given index. More...
void	setPreferredVelocity (PrefVelocity &velocity)
	set the agents preferred velocity to the input velocity. More...
void	addVelModifier (BFSM::VelModifier *v)
	Add an velocity modifier to the agent. More...
void	insertAgentNeighbor (const BaseAgent *agent, float distSq)
	Inserts an agent neighbor into the set of neighbors of this agent. More...
void	insertObstacleNeighbor (const Obstacle *obstacle, float distSq)
	Inserts a static obstacle neighbor into the set of neighbors of this agent. More...
virtual void	setStrideParameters (float stride, float buffer)
	Sets the density sensitivity parameters. More...
virtual void	startQuery ()
	clears the result vectors. Resets the filter
virtual void	filterAgent (const BaseAgent *agent, float distance)
	filters an agent and determines if it needs to be in the near set More...
virtual void	filterObstacle (const Obstacle *, float distance)
	filters an obstacle and determines if it needs to be in the near set More...
virtual Vector2	getQueryPoint ()
	gets the start point for the query More...
virtual float	getMaxAgentRange ()
	updates the max agent query range if conditions inside the filter are met typically, we don't shrink the query range until the result set is full More...
virtual float	getMaxObstacleRange ()
	updates the max query obstacle range if conditions inside the filter are met typically, we don't shrink the query range until the result set is full More...
Public Member Functions inherited from Menge::Agents::ProximityQuery
	ProximityQuery ()
	default Constructor.

Public Attributes
std::vector< Menge::Math::Line >	_orcaLines
	The set of ORCA constraints.
float	_timeHorizon
	The time horizon for inter-agent interactions.
float	_timeHorizonObst
	The time horizon for agent-obstacle interactions.
Public Attributes inherited from Menge::Agents::BaseAgent
float	_maxSpeed
	The maximum speed the agent can take.
float	_maxAccel
	The maximum acceleration the agent can experience (interpreted isotropically).
float	_prefSpeed
	The preferred speed of the agent.
Vector2	_pos
	The current 2D position of the agent.
Vector2	_vel
	The current 2D velocity of the agent.
PrefVelocity	_velPref
	The 2D preferred velocity of the agent.
Vector2	_velNew
	The new velocity computed in computeNewVelocity. More...
Vector2	_orient
	The orientation vector (the direction the agent is facing which is not necessarily the same direction as the instantaneous velocity. More...
float	_maxAngVel
	The agent's maximum angular velocity (in radians/sec) – used for controlling the changes in agent orientation.
size_t	_maxNeighbors
	The number of nearby agents used to plan dynamic respones.
float	_neighborDist
	The maximum distance at which another agent will be considered for a response.
size_t	_class
	The population class for this agent. More...
size_t	_obstacleSet
	A mask indicating the obstacles with compatible ids which this agent can see. More...
float	_priority
	The priority of each agent. More...
size_t	_id
	A globally unique identifier for each agent.
float	_radius
	The agent's radius. More...
std::vector< BFSM::VelModifier * >	_velModifiers
	a set of velocity modifiers to be set with the agent. Allows for intermediate velocity changes
std::vector< NearAgent >	_nearAgents
	The nearby agents to which the agent should respond. More...
std::vector< NearObstacle >	_nearObstacles
	The nearby obstacles to which the agent should respond. More...

Static Public Attributes
static const float	TAU = 2.5f
	The default time horizon for inter-agent interactions. More...
static const float	TAU_OBST = 0.15f
	The default time horizon for agent-obstacle interactions. More...

Protected Member Functions
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 side. If appropriate, it adds the obstacle to the set of orca lines. More...
Protected Member Functions inherited from Menge::Agents::ProximityQuery
virtual	~ProximityQuery ()
	Virtual destructor.

Friends
class	Simulator

Detailed Description

Defines an agent in the simulation.

Member Function Documentation

size_t ORCA::Agent::computeORCALines

(

)

Based on the neighbors, computes the ORCA lines.

Returns

The total number of obstacle lines

void ORCA::Agent::obstacleLine ( size_t  obstNbrID, const float  invTau, bool  flip  )

protected

Constructs an ORCA line for the given obstacle under the assumption that the agent is on its right side. If appropriate, it adds the obstacle to the set of orca lines.

Parameters

obstNbrID	The index of the near-by obstacle to test.
invTau	1 / _timeHorizonObst - the inverse of the time horizon for obstacles.
flip	The agent is on the left side of this obstacle.

These booleans short-cut the later code in which we make sure a leg direction does not cut into a "neighboring" obstacle.

In the case where the agent is "obliquely viewing" the obstacle near the left or right edge, we end up testing one of the legs against obstacle 1 itself. However, by definition, we know that both legs lie outside of the obstacle.

Member Data Documentation

const float ORCA::Agent::TAU = 2.5f

static

The default time horizon for inter-agent interactions.

The default value for tau (the time horizon w.r.t. other agents).

const float ORCA::Agent::TAU_OBST = 0.15f

static

The default time horizon for agent-obstacle interactions.

The default value for tau obstacles (the time horizon w.r.t. obstacles).

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The documentation for this class was generated from the following files:

• src/menge/MengeCore/Orca/ORCAAgent.h
• src/menge/MengeCore/Orca/ORCAAgent.cpp