navground_examples

A packages with examples of using navground from C++.

Behaviors

directory:

src/behavior

Rely only on navground_core.

Basics

file:

behavior.cpp

How to instantiate and apply a behavior to avoid a circular obstacle.

Group

file:

behavior_group.cpp

How to define and instantiate behaviors groups.

Benchmark

file:

benchmark.cpp

Measures the computation time is requires to move 20 agents in a crossings for 1000 steps.

YAML

file:

echo_yaml.cpp

How to load a behavior from YAML and how to dump it to YAML back.

Behavior component

directory:

behavior_plugin

Shows how to define and register a new behavior and a new behavior group.

Collisions

directory:

collision

Rely only on navground_core.

Basics

file:

collision.cpp

How to compute free distance to collision with a set of obstacles.

Cache

file:

cached_collision.cpp

How to compute free distance to collision with a set of obstacles and save it to a cache.

Controllers

directory:

controller

Rely only on navground_core.

Basics

file:

controller.cpp

How to use the controller API to move to a target point.

Three dimensional

file:

controller_3d.cpp

How to use the 3D controller API to move to a 3D target point.

Asynchronous

file:

controller_async.cpp

How to use the action callbacks to move back and forth between two way-points.

Scenarios

directory:

scenario

Rely on navground_core and navground_sim.

Register

file:

scenario_registered.cpp

How to list registered scenarios and load one of them, and use it to sample a world.

YAML

file:

scenario_from_yaml.cpp

How to load a scenario from YAML and use it to sample a world.

Groups

file:

scenario_with_group.cpp

How to define a scenario with groups.

Benchmark

file:

benchmark_sim.cpp

Measures the computation time is requires to move 20 agents in a crossings for 1000 steps in simulation.

Scenario component

directory:

scenario_plugin

Shows how to register a new scenario.

World

directory:

world

Rely on navground_core and navground_sim.

Component

file:

world.cpp

How to instantiate a world with walls, obstacles and agents, and perform some simulation steps.

Register

file:

world_from_yaml.cpp

How to load a world from YAML and perform some simulation steps.

YAML

file:

world_with_groups.cpp

How to instantiate a world using groups.

Custom recordings

file:

experiment_with_custom_probes.cpp

file:

run_with_custom_probes.cpp

How to use the experiment API to record custom data.