ORCAStar Library

This module contains set of program interfaces for creating decentralized navigation systems based on path planning and collision avoidance algorithms. More...

Classes
class	Agent
	Agent class implements base agent interface and behavior. More...
class	AgentParam
	Class AgentParam contains agent and algoritms parameters. More...
class	DirectPlanner
	DirectPlanner class implements simple planner, which creates direct path from start to goal position. More...
class	EnvironmentOptions
	Class EnvironmentOptions contains environment and algoritms parameters. More...
class	Line
	The class defines a line in 2D space. More...
class	LineOfSight
	This class implements line-of-sight function between two cells on the grid for a variable size of agent. More...
class	Logger
	Logger class implements base interface for system state logging. More...
class	Map
	Map class describes static environment. More...
class	Node
	The Node class defines a cell of grid (see Map class) More...
class	ObstacleSegment
	The ObstacleSegment class defines an edge of an obstacle polygon. More...
class	ORCAAgent
	ORCAAgent class implements agent with ORCA algoritm behavior. More...
class	PathPlanner
	PathPlanner class implements base pathfinder interface and behavior. More...
class	Point
	The Point class defines a position (or euclidean vector from (0,0)) in 2D space. More...
class	Reader
	Reader class implements base interface for input data reading. More...
class	Summary
	Class Summary contains brief information about execution results. More...
class	ThetaStar
	ThetaStar class implements Theta* algorithm, which creates path from start to goal position. More...
class	Vertex
	The Vertex class defines a vertex of an obstacle polygon. More...
class	XMLLogger
	XMLLogger class implements interface for system state logging to XML-file. More...
class	XMLReader
	The XMLReader class implements interface for input data reading from XML-file with a specific structure. More...

Detailed Description

This module contains set of program interfaces for creating decentralized navigation systems based on path planning and collision avoidance algorithms.

The library currently supports ORCA and Theta* algorithms. It also contains XML-files input/output modules, static environment description module, utility data structures and base modules for alternative algorithms implementations of path planning and collision avoidance