ORCA

class ORCALine

property direction

Type:

Vector2

The direction

property point

Type:

Vector2

A point on the line

class ORCABehavior

Bases: Behavior

Optimal Reciprocal Collision Avoidance (see http://gamma.cs.unc.edu/RVO2)

A wrapper of the open-source implementation from snape/RVO2

Registered properties:

• time_horizon (float, time_horizon),

• effective_center (float, is_using_effective_center),

• treat_obstacles_as_agents (bool, treat_obstacles_as_agents)

• max_neighbors (int, max_number_of_neighbors)

State: GeometricState

__init__(kinematics: navground.core.Kinematics = None, radius: float = 0) → None

Contruct a new instance

Parameters:

• kinematics – The kinematics

• radius – The radius

property is_using_effective_center

Type:

bool

Determines if an effective center is being used.

Using an effective center placed with an offset towards the front, allows to consider the kinematics as holonomic instead of a two- wheeled differential drive. See

J. Snape, J. van den Berg, S. J. Guy, and D. Manocha, “Smooth and collision-free navigation for multiple robots under differential-drive constraints,” in 2010 IEEE/RSJ International Conference on Intelligent, Robots and Systems, 2010, pp. 4584-4589.

with D=L/2.

Only possibly true if the kinematics is wheeled and constrained.

Returns:

True if using effective center, False otherwise.

property lines

Type:

list[navground.core.ORCALine]

Gets the ORCA lines computed during the last update

Returns:

The ORCA lines.

property max_number_of_neighbors

Type:

int

The maximal number of neighbors

property static_time_horizon

Type:

float

The time horizon applied to static linear obstacles. collisions predicted to happen after this time are ignored

property time_horizon

Type:

float

The time horizon. collisions predicted to happen after this time are ignored

property treat_obstacles_as_agents

Type:

bool

Whether to treat obstacles as static, disc-shaped, [rvo] agents. else will treat them as squared obstacles.