Const.h

Go to the documentation of this file.

#ifndef ORCA_CONST_H
#define ORCA_CONST_H


#define Velocity Point              
#define Vector Point                


#define CN_EPS 0.00001f                 
#define CN_PI_CONSTANT 3.14159265359    
#define CN_SQRT_TWO    1.41421356237    
#define FULL_OUTPUT    false            


#define CNS_TAG_ROOT                    "root" 

#define CNS_TAG_AGENTS                  "agents"  
    #define CNS_TAG_ATTR_NUM            "number"    
    #define CNS_TAG_ATTR_TYPE           "type"  

#define CNS_TAG_DEF_PARAMS              "default_parameters"    
    #define CNS_TAG_ATTR_SIZE               "size"  
    #define CNS_TAG_ATTR_MAXSPEED           "movespeed" 
    #define CNS_TAG_ATTR_AGENTSMAXNUM       "agentsmaxnum"  
    #define CNS_TAG_ATTR_TIMEBOUNDARY       "timeboundary"  
    #define CNS_TAG_ATTR_SIGHTRADIUS        "sightradius"   
    #define CNS_TAG_ATTR_TIMEBOUNDARYOBST   "timeboundaryobst"  
    #define CNS_TAG_ATTR_REPS               "reps"  
    #define CNS_TAG_ATTR_PARACTNUM          "paractivatingnum"  

#define CNS_TAG_AGENT                   "agent" 
    #define CNS_TAG_ATTR_ID             "id"    
    #define CNS_TAG_ATTR_STX             "start.xr" 
    #define CNS_TAG_ATTR_STY             "start.yr" 
    #define CNS_TAG_ATTR_GX             "goal.xr"   
    #define CNS_TAG_ATTR_GY             "goal.yr"   

#define CNS_TAG_ALG         "algorithm" 
    #define CNS_TAG_ST          "searchtype"    
    #define CNS_TAG_MT          "metrictype"    
    #define CNS_TAG_BT          "breakingties"  
    #define CNS_TAG_AS          "allowsqueeze"  
    #define CNS_TAG_CC          "cutcorners"    
    #define CNS_TAG_HW          "hweight"   
    #define CNS_TAG_TS          "timestep"  
    #define CNS_TAG_DEL         "delta" 

#define CNS_TAG_MAP         "map"   
    #define CNS_TAG_CELLSIZE    "cellsize"  
    #define CNS_TAG_WIDTH       "width" 
    #define CNS_TAG_HEIGHT      "height"    
    #define CNS_TAG_GRID        "grid"  
    #define CNS_TAG_ROW         "row"   

#define CNS_TAG_OBSTS       "obstacles" 
    #define CNS_TAG_OBST        "obstacle"  
    #define CNS_TAG_VERTEX      "vertex"    
    #define CNS_TAG_ATTR_X      "xr"    
    #define CNS_TAG_ATTR_Y      "yr"    

#define CNS_TAG_LOG         "log"   
    #define CNS_TAG_SUM             "summary"   
    #define CNS_TAG_ATTR_SR         "successrate"   
    #define CNS_TAG_ATTR_RUNTIME    "runtime"   
    #define CNS_TAG_ATTR_FLOWTIME   "flowtime"  
    #define CNS_TAG_ATTR_MAKESPAN   "makespan"  
    #define CNS_TAG_ATTR_COL_AGNT   "collisions"    
    #define CNS_TAG_ATTR_COL_OBST   "collisionsobst"    
    #define CNS_TAG_PATH            "path"  
    #define CNS_TAG_ATTR_PATHFOUND  "pathfound" 
    #define CNS_TAG_ATTR_STEPS      "steps" 
    #define CNS_TAG_STEP            "step"  


//XML tags' attributes
#define CNS_TAG_ATTR_NUMOFSTEPS     "numberofsteps" 
#define CNS_TAG_ATTR_NODESCREATED   "nodescreated"  
#define CNS_TAG_ATTR_LENGTH         "length"        
#define CNS_TAG_ATTR_LENGTH_SCALED  "length_scaled" 
#define CNS_TAG_ATTR_TIME           "time"  






#define CNS_SP_ST_THETA     "thetastar" 
#define CNS_SP_ST_DIR       "direct"    

#define CNS_AT_ST_ORCA      "orca"  

#define CNS_SP_MT_DIAG      "diagonal"  
#define CNS_SP_MT_MANH      "manhattan" 
#define CNS_SP_MT_EUCL      "euclid"    
#define CNS_SP_MT_CHEB      "chebyshev" 

#define CN_SP_MT_DIAG   0   
#define CN_SP_MT_MANH   1   
#define CN_SP_MT_EUCL   2   
#define CN_SP_MT_CHEB   3   

#define CN_SP_ST_THETA  0   
#define CN_SP_ST_DIR    1   




// Default values
#define CN_DEFAULT_SIZE 1                           
#define CN_DEFAULT_MAX_SPEED 1                      
#define CN_DEFAULT_AGENTS_MAX_NUM 10                
#define CN_DEFAULT_TIME_BOUNDARY 5.4                
#define CN_DEFAULT_OBS_TIME_BOUNDARY 10             
#define CN_DEFAULT_RADIUS_OF_SIGHT 10               
#define CN_DEFAULT_METRIC_TYPE CN_SP_MT_EUCL        
#define CN_DEFAULT_BREAKINGTIES 0                   
#define CN_DEFAULT_ALLOWSQUEEZE 0                   
#define CN_DEFAULT_CUTCORNERS 0                     
#define CN_DEFAULT_HWEIGHT 1                        
#define CN_DEFAULT_TIME_STEP 0.25                   
#define CN_DEFAULT_DELTA 0.1                        
#define CN_DEFAULT_REPS 0.19                        


#define CN_DEFAULT_ST CN_SP_ST_THETA                
#define CNS_DEFAULT_ST CNS_SP_ST_THETA              
#define CNS_DEFAULT_AGENT_TYPE CNS_AT_ST_ORCA       





//Search Parameters
#define CN_SP_BT_GMIN 0 
#define CN_SP_BT_GMAX 1 

//Grid Cell
#define CN_GC_NOOBS 0 
#define CN_GC_OBS   1 





#endif //ORCA_CONST_H