ORCA#

Type:

Vector2

The direction

Type:

Vector2

A point on the line

Bases: Behavior

Optimal Reciprocal Collision Avoidance (see http://gamma.cs.unc.edu/RVO2)

A wrapper of the open-source implementation from snape/RVO2

Registered properties:

State: GeometricState

Contruct a new instance

Parameters:
  • kinematics – The kinematics

  • radius – The radius

Type:

bool

Determines if an effective center is being used.

Using an effective center placed with an offset towards the front, allows to consider the kinematics as holonomic instead of a two- wheeled differential drive. See

J. Snape, J. van den Berg, S. J. Guy, and D. Manocha, “Smooth and collision-free navigation for multiple robots under differential-drive constraints,” in 2010 IEEE/RSJ International Conference on Intelligent, Robots and Systems, 2010, pp. 4584-4589.

with D=L/2.

Only possibly true if the kinematics is wheeled and constrained.

Returns:

True if using effective center, False otherwise.

Type:

list[navground.core.ORCALine]

Gets the ORCA lines computed during the last update

Returns:

The ORCA lines.

Type:

int

The maximal number of neighbors

Type:

float

The time horizon applied to static linear obstacles. collisions predicted to happen after this time are ignored

Type:

float

The time horizon. collisions predicted to happen after this time are ignored

Type:

bool

Whether to treat obstacles as static, disc-shaped, [rvo] agents. else will treat them as squared obstacles.