Utils Namespace Reference

The set of utility functions. More...

Functions
template<typename T >
bool	Less (std::pair< float, T > a, std::pair< float, T > b)
	Comparison function for pairs of the form <float, T> For sorting purposes. More...
bool	linearProgram1 (const std::vector< Line > &lines, unsigned long curr, float radius, const Vector &optVelocity, bool directionOpt, Vector &result)
	Solves a one-dimensional linear program on a specified line subject to linear constraints defined by lines and a circular constraint. More...
unsigned long int	linearProgram2 (const std::vector< Line > &lines, float radius, const Vector &optVelocity, bool directionOpt, Vector &result)
	Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint. More...
void	linearProgram3 (const std::vector< Line > &lines, size_t numObstLines, size_t beginLine, float radius, Vector &result)
	Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint. More...
template<typename T >
bool	More (std::pair< float, T > a, std::pair< float, T > b)
	Comparison function for pairs of the form <float, T> For sorting purposes. More...
float	SqPointSegDistance (Point L1, Point L2, Point P)
	Computes squared euclidean distance from point to line segment. More...

Detailed Description

The set of utility functions.

Function Documentation

template<typename T >

bool Utils::Less	(	std::pair< float, T >	a,
		std::pair< float, T >	b
	)

Comparison function for pairs of the form <float, T> For sorting purposes.

Parameters

a	First operand.
b	Second operand

Returns

Is a less than b

Definition at line 404 of file Geom.h.

bool Utils::linearProgram1	(	const std::vector< Line > &	lines,
		unsigned long	curr,
		float	radius,
		const Vector &	optVelocity,
		bool	directionOpt,
		Vector &	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.
curr	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.

Author

https://github.com/snape/RVO2

Definition at line 88 of file Geom.cpp.

unsigned long int Utils::linearProgram2	(	const std::vector< Line > &	lines,
		float	radius,
		const Vector &	optVelocity,
		bool	directionOpt,
		Vector &	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.

Author

https://github.com/snape/RVO2

Definition at line 179 of file Geom.cpp.

void Utils::linearProgram3	(	const std::vector< Line > &	lines,
		size_t	numObstLines,
		size_t	beginLine,
		float	radius,
		Vector &	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.

Author

https://github.com/snape/RVO2

Definition at line 214 of file Geom.cpp.

template<typename T >

bool Utils::More	(	std::pair< float, T >	a,
		std::pair< float, T >	b
	)

Comparison function for pairs of the form <float, T> For sorting purposes.

Parameters

a	First operand.
b	Second operand

Returns

Is a more than b

Definition at line 392 of file Geom.h.

float Utils::SqPointSegDistance	(	Point	L1,
		Point	L2,
		Point	P
	)

Computes squared euclidean distance from point to line segment.

Parameters

L1	First point of line segment.
L2	Last point of line segment
P	Point,for which the distance is computed

Returns

Squared euclidean distance from point P to line segment (L1-L2).

Author

https://github.com/snape/RVO2

Definition at line 68 of file Geom.cpp.