ORCAAgent class implements agent with ORCA algoritm behavior. More...

#include <ORCAAgent.h>

Inheritance diagram for ORCAAgent:

Public Member Functions
void	ApplyNewVelocity () override
	Method for state updating and appling computed velocity. More...

ORCAAgent *	Clone () const override
	Method for cloning objects. Creates copy of object in memmory and return pointer to copy. More...

void	ComputeNewVelocity () override
	Computes new velocity of agent using ORCA algorithm and linear programing. More...

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

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

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

	ORCAAgent ()
	ORCAAgent default constructor. More...

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

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

bool	UpdatePrefVelocity () override
	Method for computing preffered velocity and chosing current goal from global path. More...

	~ORCAAgent ()
	Virtual destructor. More...

Public Member Functions inherited from Agent
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...

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	~Agent ()
	Virtual destructor. More...

Detailed Description

ORCAAgent class implements agent with ORCA algoritm behavior.

This class describes the interaction interface with the navigation algorithm. This class implements a collision avoidance algorithm ORCA the interaction between ORCA and path planner.

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

Definition at line 26 of file ORCAAgent.h.

Constructor & Destructor Documentation

ORCAAgent::ORCAAgent ( )

ORCAAgent default constructor.

Definition at line 9 of file ORCAAgent.cpp.

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

ORCAAgent 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 12 of file ORCAAgent.cpp.

ORCAAgent::ORCAAgent ( const ORCAAgent & obj )

ORCAAgent copy constructor.

Parameters

obj	ORCAAgent object to copy.

Definition at line 17 of file ORCAAgent.cpp.

ORCAAgent::~ORCAAgent ( )

default

Virtual destructor.

Member Function Documentation

void ORCAAgent::ApplyNewVelocity ( )

overridevirtual

Method for state updating and appling computed velocity.

Implements Agent.

Definition at line 332 of file ORCAAgent.cpp.

ORCAAgent * ORCAAgent::Clone ( ) const

overridevirtual

Method for cloning objects. Creates copy of object in memmory and return pointer to copy.

Returns: Pointer to copy of object

Implements Agent.

Definition at line 384 of file ORCAAgent.cpp.

void ORCAAgent::ComputeNewVelocity ( )

overridevirtual

Computes new velocity of agent using ORCA algorithm and linear programing.

Implements Agent.

Definition at line 23 of file ORCAAgent.cpp.

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

Comparisons operator. Compares id of agents.

Parameters

another ORCAAgent to compare.

Returns: Inequality of this and another identifiers.

Definition at line 379 of file ORCAAgent.cpp.

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

Assignment operator.

Parameters

obj	ORCAAgent to assignment.

Returns: Reference to agent.

Definition at line 363 of file ORCAAgent.cpp.

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

Comparisons operator. Compares id of agents.

Parameters

another ORCAAgent to compare.

Returns: equality of this and another identifiers.

Definition at line 374 of file ORCAAgent.cpp.

bool ORCAAgent::UpdatePrefVelocity ( )

overridevirtual

Method for computing preffered velocity and chosing current goal from global path.

Returns: Success of finding new current goal.

Implements Agent.

Definition at line 338 of file ORCAAgent.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation