HRVO

class HRVOBehavior

Bases: Behavior

Hybrid Velocity Obstacle Behavior

A wrapper of the open-source implementation from http://gamma.cs.unc.edu/HRVO/

Registered properties:

• uncertainty_offset (float, uncertainty_offset)

• 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 max_number_of_neighbors

Type:

int

The maximal number of neighbors

property uncertainty_offset

Type:

float

The uncertainty offset.