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:

• uncertainty_offset (float, get_uncertainty_offset)

• max_neighbors (int, get_max_number_of_neighbors)

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