#include <RVOSimulator.h>

Public Member Functions
	~RVOSimulator ()

int	addGoal (const Vector2 &position)

void	setAgentDefaults (int velSampleCountDefault, float neighborDistDefault, int maxNeighborsDefault, float radiusDefault, float goalRadiusDefault, float prefSpeedDefault, float maxSpeedDefault, float safetyFactorDefault, float maxAccelDefault=RVO_INFTY, const Vector2 &velocityDefault=Vector2(0, 0), float orientationDefault=0, int classDefault=0)

int	addAgent (const Vector2 &startPosition, int goalID)

int	addAgent (const Vector2 &startPosition, int goalID, int velSampleCount, float neighborDist, int maxNeighbors, float radius, float goalRadius, float prefSpeed, float maxSpeed, float safetyFactor, float maxAccel=RVO_INFTY, const Vector2 &velocity=Vector2(0, 0), float orientation=0, int classID=0)

int	addObstacle (const Vector2 &point1, const Vector2 &point2)

void	setRoadmapAutomatic (bool automatic=true)

int	addRoadmapVertex (const Vector2 &position)

int	addRoadmapEdge (int vertexID1, int vertexID2)

void	initSimulation ()

int	doStep ()

bool	getReachedGoal () const

float	getGlobalTime () const

float	getTimeStep () const

void	setTimeStep (float stepSize)

int	getNumAgents () const

bool	getAgentReachedGoal (int agentID) const

const Vector2 &	getAgentPosition (int agentID) const

void	setAgentPosition (int agentID, const Vector2 &position)

const Vector2 &	getAgentVelocity (int agentID) const

void	setAgentVelocity (int agentID, const Vector2 &velocity)

float	getAgentRadius (int agentID) const

void	setAgentRadius (int agentID, float radius)

int	getAgentVelSampleCount (int agentID) const

void	setAgentVelSampleCount (int agentID, int samples)

float	getAgentNeighborDist (int agentID) const

void	setAgentNeighborDist (int agentID, float distance)

int	getAgentMaxNeighbors (int agentID) const

void	setAgentMaxNeighbors (int agentID, int maximum)

int	getAgentClass (int agentID) const

void	setAgentClass (int agentID, int classID)

float	getAgentOrientation (int agentID) const

void	setAgentOrientation (int agentID, float orientation)

int	getAgentGoal (int agentID) const

void	setAgentGoal (int agentID, int goalID)

float	getAgentGoalRadius (int agentID) const

void	setAgentGoalRadius (int agentID, float goalRadius)

float	getAgentPrefSpeed (int agentID) const

void	setAgentPrefSpeed (int agentID, float prefSpeed)

float	getAgentMaxSpeed (int agentID) const

void	setAgentMaxSpeed (int agentID, float maxSpeed)

float	getAgentMaxAccel (int agentID) const

void	setAgentMaxAccel (int agentID, float maxAccel)

float	getAgentSafetyFactor (int agentID) const

void	setAgentSafetyFactor (int agentID, float safetyFactor)

int	getNumGoals () const

const Vector2 &	getGoalPosition (int goalID) const

int	getGoalNumNeighbors (int goalID) const

int	getGoalNeighbor (int goalID, int neighborNr) const

int	getNumObstacles () const

const Vector2 &	getObstaclePoint1 (int obstacleID) const

const Vector2 &	getObstaclePoint2 (int obstacleID) const

int	getNumRoadmapVertices () const

const Vector2 &	getRoadmapVertexPosition (int vertexID) const

int	getRoadmapVertexNumNeighbors (int vertexID) const

int	getRoadmapVertexNeighbor (int vertexID, int neighborNr) const

Static Public Member Functions
static RVOSimulator *	Instance ()

Friends
class	Agent

class	Roadmap

class	RoadmapVertex

class	SweeplineComparator

class	Obstacle

class	Goal

class	KDTree

Detailed Description

The main class of the RVO Library.

Constructor & Destructor Documentation

◆ ~RVOSimulator()

RVO::RVOSimulator::~RVOSimulator ( )

Deconstructor of the RVOSimulator instance.

Member Function Documentation

◆ addAgent() [1/2]

int RVO::RVOSimulator::addAgent	(	const Vector2 &	startPosition,
		int	goalID
	)

Adds an agent with default parameters to the simulation.

Parameters

startPosition	The start position of the agent
goalID	The ID of the goal of the agent

Returns: The function returns the ID of the agent that has been added, and an errorcode if the agent defaults have not been set, or when the function is called after the simulation has been initialized.

◆ addAgent() [2/2]

int RVO::RVOSimulator::addAgent	(	const Vector2 &	startPosition,
		int	goalID,
		int	velSampleCount,
		float	neighborDist,
		int	maxNeighbors,
		float	radius,
		float	goalRadius,
		float	prefSpeed,
		float	maxSpeed,
		float	safetyFactor,
		float	maxAccel = `RVO_INFTY`,
		const Vector2 &	velocity = `Vector2(0, 0)`,
		float	orientation = `0`,
		int	classID = `0`
	)

Adds an agent with specified parameters to the simulation.

Parameters

startPosition	The start position of the agent
goalID	The ID of the goal of the agent
velSampleCount	The number of candidate velocities sampled for the agent in each step of the simulation. The running time of the simulation increases linearly with this number.
neighborDist	The distance within which the agent take other agents and obstacles into account in the navigation. 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	The maximum number of other agents and obstacles the agent takes into account in the navigation. 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	The radius of the agent
goalRadius	The goal radius of the agent; an agent is said to have reached its goal when it is within a distance goalRadius from its goal position.
prefSpeed	The preferred speed of the agent
maxSpeed	The maximum speed of the agent
safetyFactor	The safety factor of the agent. I.e. 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	The maximum acceleration of the agent
velocity	The initial velocity of the agent
orientation	The initial orientation of the agent
classID	The class of the agent; the class of an agent does not affect the simulation, but can be used in external applications to distinguish among agents

Returns: The function returns the ID of the agent that has been added. It returns an errorcode when the function is called after the simulation has been initialized.

◆ addGoal()

int RVO::RVOSimulator::addGoal ( const Vector2 & position )

Adds a goal position to the simulation.

Parameters

position The position of the goal

Returns: The function returns the ID of the goal that has been added. It returns an errorcode when the function is called after the simulation has been initialized.

◆ addObstacle()

int RVO::RVOSimulator::addObstacle	(	const Vector2 &	point1,
		const Vector2 &	point2
	)

Adds a line segment obstacle to the simulation. The line segment may not intersect previously added line segments in their interior.

Parameters

point1	The position of the first endpoint of the line segment obstacle
point2	The position of the second endpoint of the line segment obstacle

Returns: The function returns the ID of the obstacle that has been added. It returns an errorcode when the function is called after the simulation has been initialized.

◆ addRoadmapEdge()

int RVO::RVOSimulator::addRoadmapEdge	(	int	vertexID1,
		int	vertexID2
	)

Adds an edge between two vertices of the roadmap. The roadmap is undirected.

Parameters

vertexID1	The ID of the first vertex of the edge
vertexID2	The ID of the second vertex of the edge

Returns: The function returns RVO_SUCCESS when successful, and an errorcode when the function is called after the simulation has been initialized.

◆ addRoadmapVertex()

int RVO::RVOSimulator::addRoadmapVertex ( const Vector2 & position )

Adds a vertex to the roadmap of environment. The roadmap is used for global planning for the agents around obstacles.

Parameters

position The position of the roadmap vertex

Returns: The function returns the ID of the roadmap vertex that has been added. It returns an errorcode when the function is called after the simulation has been initialized.

◆ doStep()

int RVO::RVOSimulator::doStep ( )

Causes the simulator to take another simulation step. Modifies position, velocity and orientation of agents. Updates the global time of the simulation, and sets a 'reached goal' flag when all of the agents have reached their goal.

Returns: The function returns RVO_SUCCESS on success, and an errorcode when the simulation has not been initialized, or when the global parameters have not been set.

◆ getAgentClass()

int RVO::RVOSimulator::getAgentClass ( int agentID ) const

Retrieving the class of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the class of the specified agent.

◆ getAgentGoal()

int RVO::RVOSimulator::getAgentGoal ( int agentID ) const

Retrieving the goal of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the ID of the goal of the specified agent.

◆ getAgentGoalRadius()

float RVO::RVOSimulator::getAgentGoalRadius ( int agentID ) const

Retrieving the goal radius of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the goal radius of the specified agent.

◆ getAgentMaxAccel()

float RVO::RVOSimulator::getAgentMaxAccel ( int agentID ) const

Retrieving the maximum acceleration of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the acceleration of the specified agent.

◆ getAgentMaxNeighbors()

int RVO::RVOSimulator::getAgentMaxNeighbors ( int agentID ) const

Retrieving the maximum number of neighbors of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the currently set maximum number of neighbors of the specified agent.

◆ getAgentMaxSpeed()

float RVO::RVOSimulator::getAgentMaxSpeed ( int agentID ) const

Retrieving the maximum speed of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the maximum speed of the specified agent.

◆ getAgentNeighborDist()

float RVO::RVOSimulator::getAgentNeighborDist ( int agentID ) const

Retrieving the neighbor distance of an agent

Parameters

agentID The agent's ID

Returns: The function returns the currently set neighbor distance of the specified agent.

◆ getAgentOrientation()

float RVO::RVOSimulator::getAgentOrientation ( int agentID ) const

Retrieving the current orientation of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the current orientation of the specified agent.

◆ getAgentPosition()

const Vector2& RVO::RVOSimulator::getAgentPosition ( int agentID ) const

Retrieving the current position of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the current position of the specified agent.

◆ getAgentPrefSpeed()

float RVO::RVOSimulator::getAgentPrefSpeed ( int agentID ) const

Retrieving the preferred speed of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the preferred speed of the specified agent.

◆ getAgentRadius()

float RVO::RVOSimulator::getAgentRadius ( int agentID ) const

Retrieving the radius of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the radius of the specified agent.

◆ getAgentReachedGoal()

bool RVO::RVOSimulator::getAgentReachedGoal ( int agentID ) const

Retrieving whether an agent has reached its goal.

Parameters

agentID The agent's ID

Returns: The function returns true when the specified agent has reached its goal. Returns false otherwise.

◆ getAgentSafetyFactor()

float RVO::RVOSimulator::getAgentSafetyFactor ( int agentID ) const

Retrieving the safety factor of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the safety factor of the specified agent.

◆ getAgentVelocity()

const Vector2& RVO::RVOSimulator::getAgentVelocity ( int agentID ) const

Retrieving the current velocity of an agent.

Parameters

agentID The agent's ID

Returns: The function returns the current velocity of the specified agent.

◆ getAgentVelSampleCount()

int RVO::RVOSimulator::getAgentVelSampleCount ( int agentID ) const

Retrieving the sample number of an agent

Parameters

agentID The agent's ID

Returns: The function returns the currently set number of candidate velocities that is sampled for the specified agent in each step of the simulation.

◆ getGlobalTime()

float RVO::RVOSimulator::getGlobalTime ( ) const

inline

Returns: The function returns the current global time of the simulation. Is initially 0.

◆ getGoalNeighbor()

int RVO::RVOSimulator::getGoalNeighbor	(	int	goalID,
		int	neighborNr
	)		const

Retrieving the ID of a roadmap vertex connected to a goal.

Parameters

goalID	The goal's ID
neighborNr	The neighbor number

Returns: The ID of the vertex in the roadmap that is the neighborNr'th neighbor of the specified goal.

◆ getGoalNumNeighbors()

int RVO::RVOSimulator::getGoalNumNeighbors ( int goalID ) const

Retrieving the number of roadmap vertices connected to a goal.

Parameters

goalID The goal's ID

Returns: The function returns the number of vertices in the roadmap that are neighbors of the specified goal.

◆ getGoalPosition()

const Vector2& RVO::RVOSimulator::getGoalPosition ( int goalID ) const

Retrieving the position of a goal.

Parameters

goalID The goal's ID

Returns: The function returns the position of the specified goal.

◆ getNumAgents()

int RVO::RVOSimulator::getNumAgents ( ) const

Returns: The function returns the number of agents in the simulation.

◆ getNumGoals()

int RVO::RVOSimulator::getNumGoals ( ) const

Returns: The function returns the number of goals in the simulation.

◆ getNumObstacles()

int RVO::RVOSimulator::getNumObstacles ( ) const

Returns: The function returns the number of obstacles in the simulation.

◆ getNumRoadmapVertices()

int RVO::RVOSimulator::getNumRoadmapVertices ( ) const

Returns: The function returns the number of vertices in the roadmap of the simulation.

◆ getObstaclePoint1()

const Vector2& RVO::RVOSimulator::getObstaclePoint1 ( int obstacleID ) const

Retrieving the first endpoint of an obstacle.

Parameters

obstacleID The obstacle's ID

Returns: The function returns the position of the first endpoint of the specified obstacle.

◆ getObstaclePoint2()

const Vector2& RVO::RVOSimulator::getObstaclePoint2 ( int obstacleID ) const

Retrieving the second endpoint of an obstacle.

Parameters

obstacleID The obstacle's ID

Returns: The function returns the position of the second endpoint of the specified obstacle.

◆ getReachedGoal()

bool RVO::RVOSimulator::getReachedGoal ( ) const

inline

Returns: The function returns true when all agents have reached their goal. Returns false otherwise.

◆ getRoadmapVertexNeighbor()

int RVO::RVOSimulator::getRoadmapVertexNeighbor	(	int	vertexID,
		int	neighborNr
	)		const

Retrieving the ID of a roadmap vertex connected to a vertex in the roadmap.

Parameters

vertexID	The vertex' ID
neighborNr	The neighbor number

Returns: The ID of the vertex in the roadmap that is the neighborNr'th neighbor of the specified roadmap vertex.

◆ getRoadmapVertexNumNeighbors()

int RVO::RVOSimulator::getRoadmapVertexNumNeighbors ( int vertexID ) const

Retrieving the number of roadmap vertices connected to a vertex in the roadmap.

Parameters

vertexID The vertex' ID

Returns: The function returns the number of neighbors of the specified vertex in the roadmap.

◆ getRoadmapVertexPosition()

const Vector2& RVO::RVOSimulator::getRoadmapVertexPosition ( int vertexID ) const

Retrieving the position of a vertex in the roadmap.

Parameters

vertexID The vertex' ID

Returns: The function returns the position of the specified roadmap vertex.

◆ getTimeStep()

float RVO::RVOSimulator::getTimeStep ( ) const

inline

Returns: The function returns the currently set time step of the simulation.

◆ initSimulation()

void RVO::RVOSimulator::initSimulation ( )

Processes the input (goals, agents, obstacles and roadmap) of the simulation. After initialization, no content can be added anymore to the environment.

◆ Instance()

static RVOSimulator* RVO::RVOSimulator::Instance ( )

static

Instantiates an RVOSimulator.

Returns: The function returns a pointer to the singleton instance.

◆ setAgentClass()

void RVO::RVOSimulator::setAgentClass	(	int	agentID,
		int	classID
	)

Sets the class of an agent.

Parameters

agentID	The agent's ID
classID	The new class of the agent

◆ setAgentDefaults()

void RVO::RVOSimulator::setAgentDefaults	(	int	velSampleCountDefault,
		float	neighborDistDefault,
		int	maxNeighborsDefault,
		float	radiusDefault,
		float	goalRadiusDefault,
		float	prefSpeedDefault,
		float	maxSpeedDefault,
		float	safetyFactorDefault,
		float	maxAccelDefault = `RVO_INFTY`,
		const Vector2 &	velocityDefault = `Vector2(0, 0)`,
		float	orientationDefault = `0`,
		int	classDefault = `0`
	)

Sets the default parameters for agents that are subsequently added.

Parameters

velSampleCountDefault	The default number of candidate velocities sampled for the agent in each step of the simulation. The running time of the simulation increases linearly with this number.
neighborDistDefault	The default distance within which the agent take other agents and obstacles into account in the navigation. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe.
maxNeighborsDefault	The default maximum number of other agents and obstacles the agent takes into account in the navigation. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe.
radiusDefault	The default radius of the agents
goalRadiusDefault	The default goal radius of the agents
prefSpeedDefault	The default preferred speed of the agents
maxSpeedDefault	The default maximum speed of the agents
safetyFactorDefault	The default safety factor of the agents. I.e. 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.
maxAccelDefault	The default maximum acceleration of the agents
velocityDefault	The default initial velocity of the agents
orientationDefault	The default initial orientation of the agents
classDefault	The default class of the agent

◆ setAgentGoal()

void RVO::RVOSimulator::setAgentGoal	(	int	agentID,
		int	goalID
	)

Sets the goal of an agent.

Parameters

agentID	The agent's ID
goalID	The ID of the new goal of the agent

◆ setAgentGoalRadius()

void RVO::RVOSimulator::setAgentGoalRadius	(	int	agentID,
		float	goalRadius
	)

Sets the goal radius of an agent.

Parameters

agentID	The agent's ID
goalRadius	The new goal radius of the agent

◆ setAgentMaxAccel()

void RVO::RVOSimulator::setAgentMaxAccel	(	int	agentID,
		float	maxAccel
	)

Sets the maximum acceleration of an agent.

Parameters

agentID	The agent's ID
maxAccel	The new maximum acceleration of the agent

◆ setAgentMaxNeighbors()

void RVO::RVOSimulator::setAgentMaxNeighbors	(	int	agentID,
		int	maximum
	)

Sets the maximum number of neighbors of the specified agent.

Parameters

agentID	The agent's ID
maximum	The new maximum number of neighbors.

◆ setAgentMaxSpeed()

void RVO::RVOSimulator::setAgentMaxSpeed	(	int	agentID,
		float	maxSpeed
	)

Sets the maximum speed of an agent.

Parameters

agentID	The agent's ID
maxSpeed	The new maximum speed of the agent

◆ setAgentNeighborDist()

void RVO::RVOSimulator::setAgentNeighborDist	(	int	agentID,
		float	distance
	)

Sets the neighbor distance of the specified agent.

Parameters

agentID	The agent's ID
distance	The new neighbor distance.

◆ setAgentOrientation()

void RVO::RVOSimulator::setAgentOrientation	(	int	agentID,
		float	orientation
	)

Sets the current orientation of an agent.

Parameters

agentID	The agent's ID
orientation	The new orientation of the agent

◆ setAgentPosition()

void RVO::RVOSimulator::setAgentPosition	(	int	agentID,
		const Vector2 &	position
	)

Sets the current position of an agent.

Parameters

agentID	The agent's ID
position	The new position of the agent

◆ setAgentPrefSpeed()

void RVO::RVOSimulator::setAgentPrefSpeed	(	int	agentID,
		float	prefSpeed
	)

Sets the preferred speed of an agent.

Parameters

agentID	The agent's ID
prefSpeed	The new preferred speed of the agent

◆ setAgentRadius()

void RVO::RVOSimulator::setAgentRadius	(	int	agentID,
		float	radius
	)

Sets the radius of an agent.

Parameters

agentID	The agent's ID
radius	The new radius of the agent

◆ setAgentSafetyFactor()

void RVO::RVOSimulator::setAgentSafetyFactor	(	int	agentID,
		float	safetyFactor
	)

Sets the safety factor of an agent.

Parameters

agentID	The agent's ID
safetyFactor	The new safety factor of the agent

◆ setAgentVelocity()

void RVO::RVOSimulator::setAgentVelocity	(	int	agentID,
		const Vector2 &	velocity
	)

Sets the current velocity of an agent.

Parameters

agentID	The agent's ID
velocity	The new velocity of the agent

◆ setAgentVelSampleCount()

void RVO::RVOSimulator::setAgentVelSampleCount	(	int	agentID,
		int	samples
	)

Sets the number of candidate velocities that is sampled for the specified agent in each step of the simulation.

Parameters

agentID	The agent's ID
samples	The new number of samples.

◆ setRoadmapAutomatic()

void RVO::RVOSimulator::setRoadmapAutomatic ( bool automatic = true )

Sets whether the mutually visible vertices of the roadmap should automatically be connected by edges when the simulation is initialized. Default is false.

Parameters

automatic If true, the mutually visible vertices will be connected in addition to manually specified edges. If false, no edges will created in addition to the manually specified ones.

◆ setTimeStep()

void RVO::RVOSimulator::setTimeStep ( float stepSize )

inline

Sets the time step of the simulation.

Parameters

stepSize The new time step of the simulation.

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

RVOSimulator.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~RVOSimulator()

Member Function Documentation

◆ addAgent() [1/2]

◆ addAgent() [2/2]

◆ addGoal()

◆ addObstacle()

◆ addRoadmapEdge()

◆ addRoadmapVertex()

◆ doStep()

◆ getAgentClass()

◆ getAgentGoal()

◆ getAgentGoalRadius()

◆ getAgentMaxAccel()

◆ getAgentMaxNeighbors()

◆ getAgentMaxSpeed()

◆ getAgentNeighborDist()

◆ getAgentOrientation()

◆ getAgentPosition()

◆ getAgentPrefSpeed()

◆ getAgentRadius()

◆ getAgentReachedGoal()

◆ getAgentSafetyFactor()

◆ getAgentVelocity()

◆ getAgentVelSampleCount()

◆ getGlobalTime()

◆ getGoalNeighbor()

◆ getGoalNumNeighbors()

◆ getGoalPosition()

◆ getNumAgents()

◆ getNumGoals()

◆ getNumObstacles()

◆ getNumRoadmapVertices()

◆ getObstaclePoint1()

◆ getObstaclePoint2()

◆ getReachedGoal()

◆ getRoadmapVertexNeighbor()

◆ getRoadmapVertexNumNeighbors()

◆ getRoadmapVertexPosition()

◆ getTimeStep()

◆ initSimulation()

◆ Instance()

◆ setAgentClass()

◆ setAgentDefaults()

◆ setAgentGoal()

◆ setAgentGoalRadius()

◆ setAgentMaxAccel()

◆ setAgentMaxNeighbors()

◆ setAgentMaxSpeed()

◆ setAgentNeighborDist()

◆ setAgentOrientation()

◆ setAgentPosition()

◆ setAgentPrefSpeed()

◆ setAgentRadius()

◆ setAgentSafetyFactor()

◆ setAgentVelocity()

◆ setAgentVelSampleCount()

◆ setRoadmapAutomatic()

◆ setTimeStep()