Geometric

#include "navground/core/states/geometric.h"

struct LineSegment

A static obstacle of linear shape.

Public Functions

inline LineSegment(const Vector2 &p1, const Vector2 &p2)

Constructs a new instance.

Parameters:

• p1 – [in] The first vertex

• p2 – [in] The second vertex

inline ng_float_t distance_along(const Vector2 &point, const Vector2 &direction, int orientation = 0)

Computes the free distance along a ray before possibly colliding.

Parameters:

• point – [in] The ray origin

• direction – [in] The ray direction

• orientation – [in] The ray orientation

Returns:

The free distance along the ray before colliding with this line or -1 if no collision will happen.

Public Members

Vector2 p1

The position of the first vertex

Vector2 p2

The position of the second vertex

Vector2 e1

The unit vector along the segment

Vector2 e2

The unit vector perpendicular to the segment. Oriented to the left with respect to e1

ng_float_t length

The segment length

struct Disc

A circular shape. Used to represent obstacles.

Subclassed by navground::core::Neighbor

Public Functions

inline Disc(const Vector2 &position, ng_float_t radius)

Constructs a new instance.

Parameters:

• position – The position

• radius – The radius

inline bool operator==(const Disc &other) const

Equality operator.

Parameters:

other – [in] The other disc

Returns:

True if positions and radii are equal

inline Disc operator+(const Vector2 &delta) const

Addition operator.

Parameters:

delta – [in] A translation vector

Returns:

A copy of the disc translated by delta

inline Disc &operator+=(const Vector2 &delta)

Addition assignment operator.

Parameters:

delta – [in] A translation vector

Returns:

The same disc translated by delta

inline Disc operator-(const Vector2 &delta) const

Subtraction operator.

Parameters:

delta – [in] A translation vector

Returns:

A copy of the disc translated by -delta

inline Disc &operator-=(const Vector2 &delta)

Subtraction assignment operator.

Parameters:

delta – [in] A translation vector

Returns:

The same disc translated by delta

inline bool operator!=(const Disc &other) const

Inequality operator.

Parameters:

other – [in] The other disc

Returns:

Negation of equality

inline ng_float_t distance(const Disc &other) const

Returns the signed distance to another disc. Negative if the discs overlaps.

Parameters:

other – [in] The other disc

Returns:

The distance between the centers minus the radii.

Public Members

Vector2 position

The center of the disc in world frame

ng_float_t radius

Velocity in world frame Radius

struct Neighbor : public navground::core::Disc

A neighbor agent of circular shape.

Public Functions

inline Neighbor(const Vector2 &position, ng_float_t radius, const Vector2 velocity, unsigned id = 0)

Constructs a new instance.

Parameters:

• position – [in] The position

• radius – [in] The radius

• velocity – [in] The velocity

• id – [in] The identifier

inline explicit Neighbor(const Disc &disc, const Vector2 velocity = Vector2::Zero(), unsigned id = 0)

Constructs a new instance from a disc.

Parameters:

• disc – [in] The disc

• velocity – [in] The velocity

• id – [in] The id

inline Neighbor &operator=(const Disc &other)

Assignment operator from a disc.

Parameters:

other – [in] The other disc

Returns:

The result of the assignment

inline Neighbor relative_to(const Pose2 &reference)

Returns the same neighbor in a frame relative to a pose.

Parameters:

reference – [in] The reference pose

Returns:

The neighbor with transformed position and velocity

Public Members

Vector2 velocity

The velocity

unsigned id

An identifier for the id of agents or the individual agent. The interpretation is up to the behavior.

class GeometricState : public navground::core::EnvironmentState, public navground::core::TrackChanges

Public Functions

inline const std::vector<Neighbor> &get_neighbors() const

Gets the current list of neighbors. Positions are in the world fixed frame.

Returns:

The neighbors.

inline virtual void set_neighbors(const std::vector<Neighbor> &value)

Sets the neighbors. Positions are in the world fixed frame.

Parameters:

value – [in]

inline const std::vector<Disc> &get_static_obstacles() const

Gets the current list of static obstacles. Positions are in the world fixed frame.

Returns:

The static obstacles

inline virtual void set_static_obstacles(const std::vector<Disc> &value)

Sets the static obstacles. Positions are in the world fixed frame.

Parameters:

value – [in]

inline const std::vector<LineSegment> &get_line_obstacles() const

Gets the current list of line obstacles. Positions are in the world fixed frame.

Returns:

The line obstacles

inline virtual void set_line_obstacles(const std::vector<LineSegment> &value)

Sets the line obstacles. Positions are in the world fixed frame.

Parameters:

value – [in]