In this section, we give an overview of all parameters of all objects in the simulation.

Parameter |
Type (unit) |
Meaning |

timeStep | float (time) | The time step of the simulation. |

Parameter |
Type (unit) |
Meaning |

position | Vector2 (distance, distance) | The position of the goal. |

Parameter |
Type (unit) |
Meaning |

position | Vector2 (distance, distance) | The (current) position of the agent. |

goalID | int | The ID of the goal of the agent. |

velSampleCount | int | The number of candidate velocities the agent samples in each time step of the simulation. The higher the number, the more accurate the simulation. The running time of the simulation increases linearly with this number. |

neighborDist | float (distance) | The distance within which other agents and obstacles are taken into account in selecting a velocity. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe. |

maxNeighbors | int | The maximum number of neighboring agents and obstacles that are taken into account in selecting a velocity. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe. |

radius | float (distance) | The radius of the agent. |

goalRadius | float (distance) | The radius of the goal region around the goal position of the agent. An agent is defined to have reached its goal when it is within a distance goalRadius from its goal position. |

prefSpeed | float (distance/time) | The preferred speed of the agent. |

maxSpeed | float (distance/time) | The maximum speed of the agent. |

safetyFactor | float (distance) | The weight that is given to the "time to collision" when penalizing a candidate velocity for the agent (vs. the distance to the preferred velocity). The higher this value, the "safer" or the "shyer" the agent is. The lower this value, the more "aggressive" and "reckless" the agent is. Its unit is distance. |

maxAccel | float (distance/time^{2}) |
The maximum acceleration of the agent. |

velocity | Vector2 (distance/time, distance/time) | The (current) velocity of the agent. |

orientation | float (radians) | The (current) orientation of the agent. |

class | int | The class of the agent. The class can be used by a visualizer to distinguish among different classes of agents. Its value does not have any effect on the simulation. |

Parameter |
Type (unit) |
Meaning |

point1 | Vector2 (distance, distance) | The first endpoint of the line segment obstacle. |

point2 | Vector2 (distance, distance) | The second endpoint of the line segment obstacle. |

Parameter |
Type (unit) |
Meaning |

automaticRadius | float (distance) | The radius for which the mutually visible vertices of the roadmap should automatically be connected by edges when the simulation is initialized. The radius specifies the tolerated distance to obstacles of the line between two roadmap vertices in order for them to be mutually visible. If negative, no edges will created in addition to the manually specified ones. |

Parameter |
Type (unit) |
Meaning |

position | Vector2 (distance, distance) | The position of the roadmap vertex. |

Parameter |
Type (unit) |
Meaning |

vertexID1 | int | The ID of the first roadmap vertex of the edge. |

vertexID2 | int | The ID of the second roadmap vertex of the edge. |

Note that the edges are undirected.

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