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Menge
Modular Pedestrian Simulation Framework for Research and Development
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The namespace for the ORCA local collision avoidance model. More...
Classes | |
class | Agent |
Defines an agent in the simulation. More... | |
class | AgentInitializer |
Class which determines the agent properties for each new ORCA agent. More... | |
class | DBEntry |
The simulator database entry for the ORCA simulator. More... | |
class | Simulator |
Defines the simulator operating on ORCA::Agent. More... | |
Typedefs | |
typedef ORCATypeAgentContext < Agent > | AgentContext |
Specialization of the ORCA context for ORCA::Agent. | |
Functions | |
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 lines and a circular constraint. More... | |
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 constraint. More... | |
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 constraint. More... | |
Variables | |
const float | TAU = 2.5f |
The default value for tau (the time horizon w.r.t. other agents). | |
const float | TAU_OBST = 0.15f |
The default value for tau obstacles (the time horizon w.r.t. obstacles). | |
The namespace for the ORCA local collision avoidance model.
bool ORCA::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 lines and a circular constraint.
lines | Lines defining the linear constraints. |
lineNo | The specified line constraint. |
radius | The radius of the circular constraint. |
optVelocity | The optimization velocity. |
directionOpt | True if the direction should be optimized. |
result | A reference to the result of the linear program. |
size_t ORCA::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 constraint.
lines | Lines defining the linear constraints. |
radius | The radius of the circular constraint. |
optVelocity | The optimization velocity. |
directionOpt | True if the direction should be optimized. |
result | A reference to the result of the linear program. |
void ORCA::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 constraint.
lines | Lines defining the linear constraints. |
numObstLines | Count of obstacle lines. |
beginLine | The line on which the 2-d linear program failed. |
radius | The radius of the circular constraint. |
result | A reference to the result of the linear program. |