The simulation. More...

#include <Simulator.h>

Public Member Functions
	Simulator ()
	Constructor.

	~Simulator ()
	Destructor.

std::size_t	addAgent (const Vector2 &position, std::size_t goalNo)
	Adds a new agent with default properties to the simulation. More...

std::size_t	addAgent (const Vector2 &position, std::size_t goalNo, float neighborDist, std::size_t maxNeighbors, float radius, float goalRadius, float prefSpeed, float maxSpeed, float uncertaintyOffset=0.0f, float maxAccel=std::numeric_limits< float >::infinity(), const Vector2 &velocity=Vector2(0.0f, 0.0f), float orientation=0.0f)
	Adds a new agent to the simulation. More...

std::size_t	addGoal (const Vector2 &position)
	Adds a new goal to the simulation. More...

void	doStep ()
	Performs a simulation step; updates the orientation, position, and velocity of each agent, and the progress of each towards its goal.

std::size_t	getAgentGoal (std::size_t agentNo) const
	Returns the goal number of a specified agent. More...

float	getAgentGoalRadius (std::size_t agentNo) const
	Returns the goal radius of a specified agent. More...

float	getAgentMaxAccel (std::size_t agentNo) const
	Returns the maximum acceleration of a specified agent. More...

std::size_t	getAgentMaxNeighbors (std::size_t agentNo) const
	Returns the maximum neighbor count of a specified agent. More...

float	getAgentMaxSpeed (std::size_t agentNo) const
	Returns the maximum speed of a specified agent. More...

float	getAgentNeighborDist (std::size_t agentNo) const
	Returns the maximum neighbor distance of a specified agent. More...

float	getAgentOrientation (std::size_t agentNo) const
	Returns the orientation of a specified agent. More...

Vector2	getAgentPosition (std::size_t agentNo) const
	Returns the position of a specified agent. More...

float	getAgentPrefSpeed (std::size_t agentNo) const
	Returns the preferred speed of a specified agent. More...

float	getAgentRadius (std::size_t agentNo) const
	Returns the radius of a specified agent. More...

bool	getAgentReachedGoal (std::size_t agentNo) const
	Returns the progress towards its goal of a specified agent. More...

float	getAgentUncertaintyOffset (std::size_t agentNo) const
	Returns the "uncertainty offset" of a specified agent. More...

Vector2	getAgentVelocity (std::size_t agentNo) const
	Returns the velocity of a specified agent. More...

float	getGlobalTime () const
	Returns the global time of the simulation. More...

Vector2	getGoalPosition (std::size_t goalNo) const
	Returns the position of a specified goal. More...

std::size_t	getNumAgents () const
	Returns the count of agents in the simulation. More...

std::size_t	getNumGoals () const
	Returns the count of goals in the simulation. More...

float	getTimeStep () const
	Returns the time step of the simulation. More...

bool	haveReachedGoals () const
	Returns the progress towards their goals of all agents. More...

void	setAgentDefaults (float neighborDist, std::size_t maxNeighbors, float radius, float goalRadius, float prefSpeed, float maxSpeed, float uncertaintyOffset=0.0f, float maxAccel=std::numeric_limits< float >::infinity(), const Vector2 &velocity=Vector2(), float orientation=0.0f)
	Sets the default properties for any new agent that is added. More...

void	setAgentGoal (std::size_t agentNo, std::size_t goalNo)
	Sets the goal number of a specified agent. More...

void	setAgentGoalRadius (std::size_t agentNo, float goalRadius)
	Sets the goal radius of a specified agent. More...

void	setAgentMaxAccel (std::size_t agentNo, float maxAccel)
	Sets the maximum linear acceleraton of a specified agent. More...

void	setAgentMaxNeighbors (std::size_t agentNo, std::size_t maxNeighbors)
	Sets the maximum neighbor count of a specified agent. More...

void	setAgentMaxSpeed (std::size_t agentNo, float maxSpeed)
	Sets the maximum speed of a specified agent. More...

void	setAgentNeighborDist (std::size_t agentNo, float neighborDist)
	Sets the maximum neighbor distance of a specified agent. More...

void	setAgentOrientation (std::size_t agentNo, float orientation)
	Sets the orientation of a specified agent. More...

void	setAgentPosition (std::size_t agentNo, const Vector2 &position)
	Sets the position of a specified agent. More...

void	setAgentPrefSpeed (std::size_t agentNo, float prefSpeed)
	Sets the preferred speed of a specified agent. More...

void	setAgentRadius (std::size_t agentNo, float radius)
	Sets the radius of a specified agent. More...

void	setAgentUncertaintyOffset (std::size_t agentNo, float uncertaintyOffset)
	Sets the "uncertainty offset" of a specified agent. More...

void	setAgentVelocity (std::size_t agentNo, const Vector2 &velocity)
	Sets the velocity of a specified agent. More...

void	setTimeStep (float timeStep)
	Sets the time step of the simulation. More...

Friends
class	Agent

class	Goal

class	KdTree

Detailed Description

The simulation.

Member Function Documentation

◆ addAgent() [1/2]

std::size_t hrvo::Simulator::addAgent	(	const Vector2 &	position,
		std::size_t	goalNo
	)

Adds a new agent with default properties to the simulation.

Parameters

[in]	position	The starting position of this agent.
[in]	goalNo	The goal number of this agent.

Returns: The number of the agent.

◆ addAgent() [2/2]

std::size_t hrvo::Simulator::addAgent	(	const Vector2 &	position,
		std::size_t	goalNo,
		float	neighborDist,
		std::size_t	maxNeighbors,
		float	radius,
		float	goalRadius,
		float	prefSpeed,
		float	maxSpeed,
		float	uncertaintyOffset = `0.0f`,
		float	maxAccel = `std::numeric_limits< float >::infinity()`,
		const Vector2 &	velocity = `Vector2(0.0f, 0.0f)`,
		float	orientation = `0.0f`
	)

Adds a new agent to the simulation.

Parameters

[in]	position	The starting position of this agent.
[in]	goalNo	The goal number of this agent.
[in]	neighborDist	The maximum neighbor distance of this agent.
[in]	maxNeighbors	The maximum neighbor count of this agent.
[in]	radius	The radius of this agent.
[in]	goalRadius	The goal radius of this agent.
[in]	prefSpeed	The preferred speed of this agent.
[in]	maxSpeed	The maximum speed of this agent.
[in]	uncertaintyOffset	The uncertainty offset of this agent.
[in]	maxAccel	The maximum acceleration of this agent.
[in]	velocity	The initial velocity of this agent.
[in]	orientation	The initial orientation (in radians) of this agent.

Returns: The number of the agent.

◆ addGoal()

std::size_t hrvo::Simulator::addGoal ( const Vector2 & position )

Adds a new goal to the simulation.

Parameters

[in] position The position of this goal.

Returns: The number of the goal.

◆ getAgentGoal()

std::size_t hrvo::Simulator::getAgentGoal ( std::size_t agentNo ) const

Returns the goal number of a specified agent.

Parameters

[in] agentNo The number of the agent whose goal number is to be retrieved.

Returns: The present goal number of the agent.

◆ getAgentGoalRadius()

float hrvo::Simulator::getAgentGoalRadius ( std::size_t agentNo ) const

Returns the goal radius of a specified agent.

Parameters

[in] agentNo The number of the agent whose goal radius is to be retrieved.

Returns: The present goal radius of the agent

◆ getAgentMaxAccel()

float hrvo::Simulator::getAgentMaxAccel ( std::size_t agentNo ) const

Returns the maximum acceleration of a specified agent.

Parameters

[in] agentNo The number of the agent whose maximum acceleration is to be retrieved.

Returns: The present maximum acceleration of the agent.

◆ getAgentMaxNeighbors()

std::size_t hrvo::Simulator::getAgentMaxNeighbors ( std::size_t agentNo ) const

Returns the maximum neighbor count of a specified agent.

Parameters

[in] agentNo The number of the agent whose maximum neighbor count is to be retrieved.

Returns: The present maximum neighbor count of the agent.

◆ getAgentMaxSpeed()

float hrvo::Simulator::getAgentMaxSpeed ( std::size_t agentNo ) const

Returns the maximum speed of a specified agent.

Parameters

[in] agentNo The number of the agent whose maximum speed is to be retrieved.

Returns: The present maximum speed of the agent.

◆ getAgentNeighborDist()

float hrvo::Simulator::getAgentNeighborDist ( std::size_t agentNo ) const

Returns the maximum neighbor distance of a specified agent.

Parameters

[in] agentNo The number of the agent whose maximum neighbor distance is to be retrieved.

Returns: The present maximum neighbor distance of the agent.

◆ getAgentOrientation()

float hrvo::Simulator::getAgentOrientation ( std::size_t agentNo ) const

Returns the orientation of a specified agent.

Parameters

[in] agentNo The number of the agent whose orientation is to be retrieved.

Returns: The present orientation (in radians) of the agent.

◆ getAgentPosition()

Vector2 hrvo::Simulator::getAgentPosition ( std::size_t agentNo ) const

Returns the position of a specified agent.

Parameters

[in] agentNo The number of the agent whose position is to be retrieved.

Returns: The present position of the (center of) the agent.

◆ getAgentPrefSpeed()

float hrvo::Simulator::getAgentPrefSpeed ( std::size_t agentNo ) const

Returns the preferred speed of a specified agent.

The preferred speed of an agent is the speed it would choose to take if it were not influenced by other agents.

Parameters

[in] agentNo The number of the agent whose preferred speed is to be retrieved.

Returns: The present preferred speed of the agent.

◆ getAgentRadius()

float hrvo::Simulator::getAgentRadius ( std::size_t agentNo ) const

Returns the radius of a specified agent.

Parameters

[in] agentNo The number of the agent whose radius is to be retrieved.

Returns: The present radius of the agent.

◆ getAgentReachedGoal()

bool hrvo::Simulator::getAgentReachedGoal ( std::size_t agentNo ) const

Returns the progress towards its goal of a specified agent.

Parameters

[in] agentNo The number of the agent whose progress towards its goal is to be retrieved.

Returns: True if the agent has reached its goal; false otherwise.

◆ getAgentUncertaintyOffset()

float hrvo::Simulator::getAgentUncertaintyOffset ( std::size_t agentNo ) const

Returns the "uncertainty offset" of a specified agent.

The uncertainty offset is the amount velocity obstacles are widened to allow for uncertainty in the position and velocity of a differential drive agent.

Parameters

[in] agentNo The number of the agent whose uncertainty offset is to be retrieved.

Returns: The present uncertainty offset of the agent.

◆ getAgentVelocity()

Vector2 hrvo::Simulator::getAgentVelocity ( std::size_t agentNo ) const

Returns the velocity of a specified agent.

Parameters

[in] agentNo The number of the agent whose velocity is to be retrieved.

Returns: The present velocity of the agent.

◆ getGlobalTime()

float hrvo::Simulator::getGlobalTime ( ) const

inline

Returns the global time of the simulation.

Returns: The present global time of the simulation (zero initially).

◆ getGoalPosition()

Vector2 hrvo::Simulator::getGoalPosition ( std::size_t goalNo ) const

Returns the position of a specified goal.

Parameters

[in] goalNo The number of the goal whose position is to be retrieved.

Returns: The position of the goal.

◆ getNumAgents()

std::size_t hrvo::Simulator::getNumAgents ( ) const

inline

Returns the count of agents in the simulation.

Returns: The count of agents in the simulation.

◆ getNumGoals()

std::size_t hrvo::Simulator::getNumGoals ( ) const

inline

Returns the count of goals in the simulation.

Returns: The count of goals in the simulation.

◆ getTimeStep()

float hrvo::Simulator::getTimeStep ( ) const

inline

Returns the time step of the simulation.

Returns: The present time step of the simulation.

◆ haveReachedGoals()

bool hrvo::Simulator::haveReachedGoals ( ) const

inline

Returns the progress towards their goals of all agents.

Returns: True if all agents have reached their goals; false otherwise.

◆ setAgentDefaults()

void hrvo::Simulator::setAgentDefaults	(	float	neighborDist,
		std::size_t	maxNeighbors,
		float	radius,
		float	goalRadius,
		float	prefSpeed,
		float	maxSpeed,
		float	uncertaintyOffset = `0.0f`,
		float	maxAccel = `std::numeric_limits< float >::infinity()`,
		const Vector2 &	velocity = `Vector2()`,
		float	orientation = `0.0f`
	)

Sets the default properties for any new agent that is added.

Parameters

[in]	neighborDist	The default maximum neighbor distance of a new agent.
[in]	maxNeighbors	The default maximum neighbor count of a new agent.
[in]	radius	The default radius of a new agent.
[in]	goalRadius	The default goal radius of a new agent.
[in]	prefSpeed	The default preferred speed of a new agent.
[in]	maxSpeed	The default maximum speed of a new agent.
[in]	uncertaintyOffset	The default uncertainty offset of a new agent.
[in]	maxAccel	The default maximum acceleration of a new agent.
[in]	velocity	The default initial velocity of a new agent.
[in]	orientation	The default initial orientation (in radians) of a new agent.

◆ setAgentGoal()

void hrvo::Simulator::setAgentGoal	(	std::size_t	agentNo,
		std::size_t	goalNo
	)

Sets the goal number of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose goal number is to be modified.
[in]	goalNo	The replacement goal number.

◆ setAgentGoalRadius()

void hrvo::Simulator::setAgentGoalRadius	(	std::size_t	agentNo,
		float	goalRadius
	)

Sets the goal radius of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose goal radius is to be modified.
[in]	goalRadius	The replacement goal radius.

◆ setAgentMaxAccel()

void hrvo::Simulator::setAgentMaxAccel	(	std::size_t	agentNo,
		float	maxAccel
	)

Sets the maximum linear acceleraton of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose maximum acceleration is to be modified.
[in]	maxAccel	The replacement maximum acceleration.

◆ setAgentMaxNeighbors()

void hrvo::Simulator::setAgentMaxNeighbors	(	std::size_t	agentNo,
		std::size_t	maxNeighbors
	)

Sets the maximum neighbor count of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose maximum neighbor count is to be modified.
[in]	maxNeighbors	The replacement maximum neighbor count.

◆ setAgentMaxSpeed()

void hrvo::Simulator::setAgentMaxSpeed	(	std::size_t	agentNo,
		float	maxSpeed
	)

Sets the maximum speed of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose maximum speed is to be modified.
[in]	maxSpeed	The replacement maximum speed.

◆ setAgentNeighborDist()

void hrvo::Simulator::setAgentNeighborDist	(	std::size_t	agentNo,
		float	neighborDist
	)

Sets the maximum neighbor distance of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose maximum neighbor distance is to be modified.
[in]	neighborDist	The replacement maximum neighbor distance.

◆ setAgentOrientation()

void hrvo::Simulator::setAgentOrientation	(	std::size_t	agentNo,
		float	orientation
	)

Sets the orientation of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose orientation is to be modified.
[in]	orientation	The replacement orientation (in radians).

◆ setAgentPosition()

void hrvo::Simulator::setAgentPosition	(	std::size_t	agentNo,
		const Vector2 &	position
	)

Sets the position of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose position is to be modified.
[in]	position	The replacement position.

◆ setAgentPrefSpeed()

void hrvo::Simulator::setAgentPrefSpeed	(	std::size_t	agentNo,
		float	prefSpeed
	)

Sets the preferred speed of a specified agent.

The preferred speed of an agent is the speed it would choose to take if it were not influenced by other agents.

Parameters

[in]	agentNo	The number of the agent whose preferred speed is to be modified.
[in]	prefSpeed	The replacement preferred speed.

◆ setAgentRadius()

void hrvo::Simulator::setAgentRadius	(	std::size_t	agentNo,
		float	radius
	)

Sets the radius of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose radius is to be modified.
[in]	radius	The replacement radius.

◆ setAgentUncertaintyOffset()

void hrvo::Simulator::setAgentUncertaintyOffset	(	std::size_t	agentNo,
		float	uncertaintyOffset
	)

Sets the "uncertainty offset" of a specified agent.

The uncertainty offset is the amount velocity obstacles are widened to allow for uncertainty in the position and velocity of a differential drive agent.

Parameters

[in]	agentNo	The number of the agent whose uncertainty offset is to be modified.
[in]	uncertaintyOffset	The replacement uncertainty offset.

◆ setAgentVelocity()

void hrvo::Simulator::setAgentVelocity	(	std::size_t	agentNo,
		const Vector2 &	velocity
	)

Sets the velocity of a specified agent.

Parameters

[in]	agentNo	The number of the agent whose velocity is to be modified.
[in]	velocity	The replacement velocity.

◆ setTimeStep()

void hrvo::Simulator::setTimeStep ( float timeStep )

inline

Sets the time step of the simulation.

Parameters

[in] timeStep The replacement time step of the simulation.

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

Simulator.h

Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ addAgent() [1/2]

◆ addAgent() [2/2]

◆ addGoal()

◆ getAgentGoal()

◆ getAgentGoalRadius()

◆ getAgentMaxAccel()

◆ getAgentMaxNeighbors()

◆ getAgentMaxSpeed()

◆ getAgentNeighborDist()

◆ getAgentOrientation()

◆ getAgentPosition()

◆ getAgentPrefSpeed()

◆ getAgentRadius()

◆ getAgentReachedGoal()

◆ getAgentUncertaintyOffset()

◆ getAgentVelocity()

◆ getGlobalTime()

◆ getGoalPosition()

◆ getNumAgents()

◆ getNumGoals()

◆ getTimeStep()

◆ haveReachedGoals()

◆ setAgentDefaults()

◆ setAgentGoal()

◆ setAgentGoalRadius()

◆ setAgentMaxAccel()

◆ setAgentMaxNeighbors()

◆ setAgentMaxSpeed()

◆ setAgentNeighborDist()

◆ setAgentOrientation()

◆ setAgentPosition()

◆ setAgentPrefSpeed()

◆ setAgentRadius()

◆ setAgentUncertaintyOffset()

◆ setAgentVelocity()

◆ setTimeStep()