Geometric bounded

Geometric bounded#

#include "navground/sim/state_estimations/geometric_bounded.h"
struct BoundedStateEstimation : public navground::sim::StateEstimation#

Perfect state estimation within a range from the agent.

Registered properties:

Public Functions

inline explicit BoundedStateEstimation(ng_float_t range = default_range, bool update_static_obstacles = default_update_static_obstacles)#

Constructs a new instance.

Parameters:

  • range – [in] The range of view

  • update_static_obstacles – [in] Whether to update the static obstacles in StateEstimation::update

inline void set_range(ng_float_t value)#

Sets the maximal range of view.

Parameters:

value – [in] The new value

inline ng_float_t get_range() const#

Gets the maximal range of view.

Returns:

The range of view.

inline void set_update_static_obstacles(bool value)#

Sets whether to set the static obstacles in StateEstimation::prepare (ignoring the range) or in StateEstimation::update.

Parameters:

value – [in] True if static obstacles are set in StateEstimation::update.

inline bool get_update_static_obstacles() const#

Gets whether to set the static obstacles in StateEstimation::prepare (ignoring the range) or in StateEstimation::update.

Returns:

True if static obstacles are set in StateEstimation::update.

virtual std::vector<Neighbor> neighbors_of_agent(const Agent *agent, World *world) const#

Gets the neighbors that lie within get_range from the agent.

Parameters:

  • agent – [in] The agent

  • world – [in] The world the agent is part of.

Returns:

A list of neighbors around the agent

Public Static Attributes

static const ng_float_t default_range = 1.0#

Default range value

static const bool default_update_static_obstacles = false#

By default it does not update static obstacles

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