The simulation. More...

#include <Simulator.h>

Public Member Functions
	Simulator ()
	Constructor.

	~Simulator ()
	Destructor.

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

std::size_t	addAgent (const Vector2 &position, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, float maxAccel, float accelInterval)
	Adds a new agent to the simulation. More...

std::size_t	addAgent (const Vector2 &position, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, float maxAccel, float accelInterval, const Vector2 &velocity)
	Adds a new agent to the simulation. More...

void	doStep ()
	Performs a simulation step and updates the position and velocity of each agent.

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

std::size_t	getAgentNeighbor (std::size_t agentNo, std::size_t neighborNo) const
	Returns the specified agent neighbor of the 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...

std::size_t	getAgentNumNeighbors (std::size_t agentNo) const
	Returns the count of agent neighbors taken into account to compute the current velocity for the specified agent. More...

std::size_t	getAgentNumOrcaLines (std::size_t agentNo) const
	Returns the count of ORCA constraints used to compute the current velocity for the specified agent. More...

const Line &	getAgentOrcaLine (std::size_t agentNo, std::size_t lineNo) const
	Returns the specified ORCA constraint of the specified agent. More...

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

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

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

float	getAgentTimeHorizon (std::size_t agentNo) const
	Returns the time horizon of a specified agent. More...

const 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...

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

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

void	setAgentAccelInterval (std::size_t agentNo, float accelInterval)
	Sets the acceleration interval of a specified agent. More...

void	setAgentDefaults (float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, float maxAccel, float accelInterval)
	Sets the default properties for any new agent that is added. More...

void	setAgentDefaults (float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, float maxAccel, float accelInterval, const Vector2 &velocity)
	Sets the default properties for any new agent that is added. More...

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

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

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

void	setAgentTimeHorizon (std::size_t agentNo, float timeHorizon)
	Sets the time horizon of a specified agent. More...

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

void	setGlobalTime (float globalTime)
	Sets the global time of the simulation. More...

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

Friends
class	KdTree

Detailed Description

The simulation.

Member Function Documentation

◆ addAgent() [1/3]

std::size_t AVO::Simulator::addAgent ( const Vector2 & position )

Adds a new agent with default properties to the simulation.

Parameters

[in] position The starting position of this agent.

Returns: The number of the agent.

◆ addAgent() [2/3]

std::size_t AVO::Simulator::addAgent	(	const Vector2 &	position,
		float	neighborDist,
		std::size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		float	maxAccel,
		float	accelInterval
	)

Adds a new agent to the simulation.

Parameters

[in]	position	The starting position of this agent.
[in]	neighborDist	The maximum neighbor distance of this agent.
[in]	maxNeighbors	The maximum neighbor count of this agent.
[in]	timeHorizon	The time horizon of this agent.
[in]	radius	The radius of this agent.
[in]	maxSpeed	The maximum speed of this agent.
[in]	maxAccel	The maximum acceleration of this agent.
[in]	accelInterval	The acceleration interval of this agent.

Returns: The number of the agent.

◆ addAgent() [3/3]

std::size_t AVO::Simulator::addAgent	(	const Vector2 &	position,
		float	neighborDist,
		std::size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		float	maxAccel,
		float	accelInterval,
		const Vector2 &	velocity
	)

Adds a new agent to the simulation.

Parameters

[in]	position	The starting position of this agent.
[in]	neighborDist	The maximum neighbor distance of this agent.
[in]	maxNeighbors	The maximum neighbor count of this agent.
[in]	timeHorizon	The time horizon of this agent.
[in]	radius	The radius of this agent.
[in]	maxSpeed	The maximum speed of this agent.
[in]	maxAccel	The maximum acceleration of this agent.
[in]	accelInterval	The acceleration interval of this agent.
[in]	velocity	The initial velocity of this agent.

Returns: The number of the agent.

◆ getAgentAccelInterval()

float AVO::Simulator::getAgentAccelInterval ( std::size_t agentNo ) const

Returns the acceleration interval of a specified agent.

Parameters

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

Returns: The present acceleration interval of the agent.

◆ getAgentMaxAccel()

float AVO::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 AVO::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 AVO::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.

◆ getAgentNeighbor()

std::size_t AVO::Simulator::getAgentNeighbor	(	std::size_t	agentNo,
		std::size_t	neighborNo
	)		const

Returns the specified agent neighbor of the specified agent.

Parameters

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

Returns: The number of the neighboring agent.

◆ getAgentNeighborDist()

float AVO::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.

◆ getAgentNumNeighbors()

std::size_t AVO::Simulator::getAgentNumNeighbors ( std::size_t agentNo ) const

Returns the count of agent neighbors taken into account to compute the current velocity for the specified agent.

Parameters

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

Returns: The count of agent neighbors taken into account to compute the current velocity for the specified agent.

◆ getAgentNumOrcaLines()

std::size_t AVO::Simulator::getAgentNumOrcaLines ( std::size_t agentNo ) const

Returns the count of ORCA constraints used to compute the current velocity for the specified agent.

Parameters

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

Returns: The count of ORCA constraints used to compute the current velocity for the specified agent.

◆ getAgentOrcaLine()

const Line& AVO::Simulator::getAgentOrcaLine	(	std::size_t	agentNo,
		std::size_t	lineNo
	)		const

Returns the specified ORCA constraint of the specified agent.

The halfplane to the left of the line is the region of permissible velocities with respect to the specified ORCA constraint.

Parameters

[in]	agentNo	The number of the agent whose ORCA constraint is to be retrieved.
[in]	lineNo	The number of the ORCA constraint to be retrieved.

Returns: A line representing the specified ORCA constraint.

◆ getAgentPosition()

const Vector2& AVO::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.

◆ getAgentPrefVelocity()

const Vector2& AVO::Simulator::getAgentPrefVelocity ( std::size_t agentNo ) const

Returns the preferred velocity of a specified agent.

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

Parameters

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

Returns: The present preferred velocity of the agent.

◆ getAgentRadius()

float AVO::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.

◆ getAgentTimeHorizon()

float AVO::Simulator::getAgentTimeHorizon ( std::size_t agentNo ) const

Returns the time horizon of a specified agent.

Parameters

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

Returns: The present time horizon of the agent.

◆ getAgentVelocity()

const Vector2& AVO::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 AVO::Simulator::getGlobalTime ( ) const

inline

Returns the global time of the simulation.

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

◆ getNumAgents()

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

inline

Returns the count of agents in the simulation.

Returns: The count of agents in the simulation.

◆ getTimeStep()

float AVO::Simulator::getTimeStep ( ) const

inline

Returns the time step of the simulation.

Returns: The present time step of the simulation.

◆ setAgentAccelInterval()

void AVO::Simulator::setAgentAccelInterval	(	std::size_t	agentNo,
		float	accelInterval
	)

Sets the acceleration interval of a specified agent.

Parameters

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

◆ setAgentDefaults() [1/2]

void AVO::Simulator::setAgentDefaults	(	float	neighborDist,
		std::size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		float	maxAccel,
		float	accelInterval
	)

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]	timeHorizon	The time horizon of a new agent.
[in]	radius	The default radius of a new agent.
[in]	maxSpeed	The default maximum speed of a new agent.
[in]	maxAccel	The default maximum acceleration of a new agent.
[in]	accelInterval	The default acceleration interval of a new agent.

◆ setAgentDefaults() [2/2]

void AVO::Simulator::setAgentDefaults	(	float	neighborDist,
		std::size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		float	maxAccel,
		float	accelInterval,
		const Vector2 &	velocity
	)

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]	timeHorizon	The time horizon of a new agent.
[in]	radius	The default radius of a new agent.
[in]	maxSpeed	The default maximum speed of a new agent.
[in]	maxAccel	The default maximum acceleration of a new agent.
[in]	accelInterval	The default acceleration interval of a new agent.
[in]	velocity	The default initial velocity of a new agent.

◆ setAgentMaxAccel()

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

Sets the maximum acceleration 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 AVO::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 AVO::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 AVO::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.

◆ setAgentPosition()

void AVO::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.

◆ setAgentPrefVelocity()

void AVO::Simulator::setAgentPrefVelocity	(	std::size_t	agentNo,
		const Vector2 &	prefVelocity
	)

Sets the preferred velocity of a specified agent.

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

Parameters

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

◆ setAgentRadius()

void AVO::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.

◆ setAgentTimeHorizon()

void AVO::Simulator::setAgentTimeHorizon	(	std::size_t	agentNo,
		float	timeHorizon
	)

Sets the time horizon of a specified agent.

Parameters

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

◆ setAgentVelocity()

void AVO::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.

◆ setGlobalTime()

void AVO::Simulator::setGlobalTime ( float globalTime )

inline

Sets the global time of the simulation.

Parameters

[in] globalTime The replacement global time of the simulation.

◆ setTimeStep()

void AVO::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() [1/3]

◆ addAgent() [2/3]

◆ addAgent() [3/3]

◆ getAgentAccelInterval()

◆ getAgentMaxAccel()

◆ getAgentMaxNeighbors()

◆ getAgentMaxSpeed()

◆ getAgentNeighbor()

◆ getAgentNeighborDist()

◆ getAgentNumNeighbors()

◆ getAgentNumOrcaLines()

◆ getAgentOrcaLine()

◆ getAgentPosition()

◆ getAgentPrefVelocity()

◆ getAgentRadius()

◆ getAgentTimeHorizon()

◆ getAgentVelocity()

◆ getGlobalTime()

◆ getNumAgents()

◆ getTimeStep()

◆ setAgentAccelInterval()

◆ setAgentDefaults() [1/2]

◆ setAgentDefaults() [2/2]

◆ setAgentMaxAccel()

◆ setAgentMaxNeighbors()

◆ setAgentMaxSpeed()

◆ setAgentNeighborDist()

◆ setAgentPosition()

◆ setAgentPrefVelocity()

◆ setAgentRadius()

◆ setAgentTimeHorizon()

◆ setAgentVelocity()

◆ setGlobalTime()

◆ setTimeStep()