Cross

#include "navground/sim/scenarios/cross.h"

struct CrossScenario : public navground::sim::Scenario

A scenario where agents move between two waypoints, one half of the agents vertically and the other horizontally. Agents are initialize at non-overlapping random poses in a box.

Registered properties:

• side (float, get_side)

• tolerance (float, get_tolerance)

• agent_margin (float, get_agent_margin)

• add_safety_to_agent_margin (bool, get_add_safety_to_agent_margin)

• target_margin (float, get_target_margin)

Public Functions

inline ng_float_t get_side() const

Gets the half-length of the squared arena. Waypoints are placed at (+/-side, 0) and (0, +/-side)

Returns:

The half-side of the squared arena.

inline void set_side(ng_float_t value)

Sets the half-length of the squared arena. Waypoints are placed at (+/-side, 0) and (0, +/-side)

Parameters:

value – [in] The desired value (positive)

inline ng_float_t get_tolerance() const

Gets the task goal tolerance (i.e., agents will change target when they arrive closer than this to their current target).

Returns:

The tolerance.

inline void set_tolerance(ng_float_t value)

Sets the task goal tolerance (i.e., agents will change target when they arrive closer than this to their current target).

Parameters:

value – [in] The desired value (positive)

inline ng_float_t get_agent_margin() const

Gets the initial minimal distance between agents.

Returns:

The initial minimal distance between agents .

inline void set_agent_margin(ng_float_t value)

Sets the initial minimal distance between agents.

Parameters:

value – [in] The desired margin (positive)

inline bool get_add_safety_to_agent_margin() const

Whenever the agent’s safety margin should be considered in addition to get_agent_margin when initializing the agents’ poses.

Returns:

The add safety to agent margin.

inline void set_add_safety_to_agent_margin(bool value)

Sets whenever the agent’s safety margin should be considered in addition to get_agent_margin when initializing the agents’ poses.

Parameters:

value – [in] Whenever to consider the safety margin or not.

inline ng_float_t get_target_margin() const

Gets the minimal distance between agents and targets at initialization.

Returns:

The margin.

inline void set_target_margin(ng_float_t value)

Sets the minimal distance between agents and targets at initialization.

Parameters:

value – [in] The desired value (positive)