HRVO

HRVO#

#include "navground/core/behaviors/HRVO.h"
class HRVOBehavior : public navground::core::Behavior#

Hybrid Velocity Obstacle Behavior.

A wrapper of the open-source implementation from http://gamma.cs.unc.edu/HRVO/

Registered properties:

State: GeometricState

Public Functions

HRVOBehavior(std::shared_ptr<Kinematics> kinematics = nullptr, ng_float_t radius = 0)#

Contruct a new instance.

Parameters:

  • kinematics – [in] The kinematics

  • radius – [in] The radius

unsigned get_max_number_of_neighbors() const#

Gets the maximal number of neighbors.

Returns:

The maximal number of neighbors

void set_max_number_of_neighbors(unsigned value)#

Sets the maximal number of neighbors.

Parameters:

value – [in] The desired value

ng_float_t get_uncertainty_offset() const#

Gets the uncertainty offset.

Returns:

The uncertainty offset.

void set_uncertainty_offset(ng_float_t value)#

Sets the uncertainty offset.

Parameters:

value – [in] The value

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