ORCA Namespace Reference

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).

Detailed Description

The namespace for the ORCA local collision avoidance model.

Function Documentation

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.

Parameters

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.

Returns

True if successful.

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.

Parameters

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.

Returns

The number of the line it fails on, and the number of lines if successful.

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.

Parameters

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.