Agent class implements base agent interface and behavior. More...

#include <Agent.h>

Inheritance diagram for Agent:

Public Member Functions
virtual void	AddNeighbour (Agent &neighbour, float distSq)
	Adds new neighbour. Only agents inside sight radius will be adeed. Can be ovveriden. More...

	Agent ()
	Agent default constructor. More...

	Agent (const int &id, const Point &start, const Point &goal, const Map &map, const EnvironmentOptions &options, AgentParam param)
	Agent constructor with parameters. More...

	Agent (const Agent &obj)
	Agent copy constructor. More...

virtual void	ApplyNewVelocity ()=0
	Abstract method for state updating and appling computed velocity. More...

virtual Agent *	Clone () const =0
	Abstract method for cloning inheritors objects. Implementations of this method should create copy of object in memmory and return pointer to copy. More...

virtual void	ComputeNewVelocity ()=0
	Abstract method for new agent velocity computation. Implementations of this method should change newV field. More...

std::pair< unsigned int, unsigned int >	GetCollision () const
	Returns collisions count. For debug purposes. More...

Point	GetGoal () const
	Returns goal of agent. For ROS Simulation purposes. More...

int	GetID () const
	Returns identifier of agent. More...

Point	GetNext () const
	Returns current goal of agent. For debug purposes. More...

AgentParam	GetParam () const
	Returns parameters of agent. For ROS Simulation purposes. More...

Point	GetPosition () const
	Returns current position of Agent. More...

float	GetRadius () const
	Returns radius of agent. More...

Point	GetStart () const
	Returns start of agent. For ROS Simulation purposes. More...

Point	GetVelocity () const
	Returns current velocity of agent. More...

bool	InitPath ()
	Starts pathfinding from start to goal position. More...

virtual bool	isFinished ()
	Checks, what the agent is on finish. To achieve finish agent should be at least in delta distance from goal position. More...

bool	operator!= (const Agent &another) const
	Comparisons operator. Compares id of agents. More...

Agent &	operator= (const Agent &obj)
	Assignment operator. More...

bool	operator== (const Agent &another) const
	Comparisons operator. Compares id of agents. More...

template<class Planner >
void	SetPlanner (const Planner &pl)
	Set global planner object. More...

virtual void	SetPosition (const Point &pos)
	SetsS current position of agent. Can be ovveriden. More...

virtual void	SetVelocity (const Point &vel)
	Sets current velocity. Should be used if the new velocity may not coincide with the computed. More...

void	UpdateNeighbourObst ()
	Computes neighbouring obstacles. More...

virtual bool	UpdatePrefVelocity ()=0
	Abstract method for computing preffered velocity and chosing current goal. Can be ovveriden. More...

virtual	~Agent ()
	Virtual destructor. More...

Detailed Description

Agent class implements base agent interface and behavior.

This class describes the interaction interface with the navigation algorithm. It is in the successor classes of Agent that it is supposed to implement a collision avoidance algorithm and the interaction between collision avoidance algorithm and path planner.

An illustration of the agent is presented in the figure below.

Definition at line 95 of file Agent.h.

Constructor & Destructor Documentation

Agent::Agent ( )

Agent default constructor.

Definition at line 9 of file Agent.cpp.

Agent::Agent	(	const int &	id,
		const Point &	start,
		const Point &	goal,
		const Map &	map,
		const EnvironmentOptions &	options,
		AgentParam	param
	)

Agent constructor with parameters.

Parameters

id	Agent identifier number for debug and comparison.
start	Start position of agent.
goal	Goal position of agent.
map	Static environment map. It contains information about grid and static obstacles boundaries. More about it see in Main page and Map class.
options	Environment and algorithm options. See EnvironmentOptions class.
param	agent and algorithm options. See AgentParam class.

Definition at line 33 of file Agent.cpp.

Agent::Agent ( const Agent & obj )

Agent copy constructor.

Parameters

obj	Agent object to copy.

Definition at line 60 of file Agent.cpp.

Agent::~Agent ( )

virtual

Virtual destructor.

Definition at line 89 of file Agent.cpp.

Member Function Documentation

void Agent::AddNeighbour	(	Agent &	neighbour,
		float	distSq
	)

virtual

Adds new neighbour. Only agents inside sight radius will be adeed. Can be ovveriden.

Parameters

neighbour	Neighboring agent
distSq	Squred euclidian distance betwen agents

Definition at line 120 of file Agent.cpp.

virtual void Agent::ApplyNewVelocity ( )

pure virtual

Abstract method for state updating and appling computed velocity.

Implemented in ORCAAgent.

virtual Agent* Agent::Clone ( ) const

pure virtual

Abstract method for cloning inheritors objects. Implementations of this method should create copy of object in memmory and return pointer to copy.

Returns: Pointer to copy of object

Implemented in ORCAAgent.

virtual void Agent::ComputeNewVelocity ( )

pure virtual

Abstract method for new agent velocity computation. Implementations of this method should change newV field.

Implemented in ORCAAgent.

std::pair< unsigned int, unsigned int > Agent::GetCollision ( ) const

Returns collisions count. For debug purposes.

Returns: Pair of collisions counters: collisions with agents and collisions with static obstacles.

Definition at line 184 of file Agent.cpp.

Point Agent::GetGoal ( ) const

Returns goal of agent. For ROS Simulation purposes.

Returns: Global goal of agent.

Definition at line 253 of file Agent.cpp.

int Agent::GetID ( ) const

Returns identifier of agent.

Returns: Identifier of agent.

Definition at line 196 of file Agent.cpp.

Point Agent::GetNext ( ) const

Returns current goal of agent. For debug purposes.

Returns: Current goal of agent.

Definition at line 242 of file Agent.cpp.

AgentParam Agent::GetParam ( ) const

Returns parameters of agent. For ROS Simulation purposes.

Returns: Parameters of agent.

Definition at line 265 of file Agent.cpp.

Point Agent::GetPosition ( ) const

Returns current position of Agent.

Returns: Current position of Agent.

Definition at line 149 of file Agent.cpp.

float Agent::GetRadius ( ) const

Returns radius of agent.

Returns: Radius of agent.

Definition at line 202 of file Agent.cpp.

Point Agent::GetStart ( ) const

Returns start of agent. For ROS Simulation purposes.

Returns: Global start of agent.

Definition at line 259 of file Agent.cpp.

Point Agent::GetVelocity ( ) const

Returns current velocity of agent.

Returns: Current velocity of agent.

Definition at line 178 of file Agent.cpp.

bool Agent::InitPath ( )

Starts pathfinding from start to goal position.

Returns: Success of pathfinding.

Definition at line 190 of file Agent.cpp.

bool Agent::isFinished ( )

virtual

Checks, what the agent is on finish. To achieve finish agent should be at least in delta distance from goal position.

Returns: The agent achieve his goal position.

Definition at line 102 of file Agent.cpp.

bool Agent::operator!= ( const Agent & another ) const

Comparisons operator. Compares id of agents.

Parameters

another Agent to compare.

Returns: Inequality of this and another identifiers.

Definition at line 114 of file Agent.cpp.

Agent & Agent::operator= ( const Agent & obj )

Assignment operator.

Parameters

obj	Agent to assignment.

Returns: Reference to agent.

Definition at line 208 of file Agent.cpp.

bool Agent::operator== ( const Agent & another ) const

Comparisons operator. Compares id of agents.

Parameters

another Agnet to compare.

Returns: equality of this and another identifiers.

Definition at line 108 of file Agent.cpp.

template<class Planner >

void Agent::SetPlanner ( const Planner & pl )

inline

Set global planner object.

Parameters

pl	Global planner object. Will be copied. Object should be inheritor of PathPlanner.

Definition at line 267 of file Agent.h.

void Agent::SetPosition ( const Point & pos )

virtual

SetsS current position of agent. Can be ovveriden.

Parameters

pos	New position.

Definition at line 143 of file Agent.cpp.

void Agent::SetVelocity ( const Point & vel )

virtual

Sets current velocity. Should be used if the new velocity may not coincide with the computed.

Parameters

vel	New curren velocity.

Definition at line 247 of file Agent.cpp.

void Agent::UpdateNeighbourObst ( )

Computes neighbouring obstacles.

Definition at line 155 of file Agent.cpp.

virtual bool Agent::UpdatePrefVelocity ( )

pure virtual

Abstract method for computing preffered velocity and chosing current goal. Can be ovveriden.

Returns: Success of finding new current goal.

Implemented in ORCAAgent.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation