Antipodal

#include "navground/sim/scenarios/antipodal.h"

struct AntipodalScenario : public navground::sim::Scenario

A scenario that place the agents around a circle at regular intervals and task them to reach the opposite (“antipode”) side.

Registered properties:

• radius (float, get_radius)

• tolerance (float, get_tolerance)

• position_noise (float, get_position_noise)

• orientation_noise (float, get_orientation_noise)

• shuffle (bool, get_shuffle)

Public Functions

inline explicit AntipodalScenario(ng_float_t radius = default_radius, ng_float_t tolerance = default_tolerance, ng_float_t position_noise = default_position_noise, ng_float_t orientation_noise = default_orientation_noise, bool shuffle = default_shuffle)

Constructs a new instance.

inline ng_float_t get_radius() const

Gets the circle radius.

Returns:

The radius.

inline void set_radius(ng_float_t value)

Sets the circle radius.

Parameters:

value – [in] The desired value

inline ng_float_t get_tolerance() const

Gets the goal tolerance.

Returns:

The tolerance.

inline void set_tolerance(ng_float_t value)

Sets the goal tolerance.

Parameters:

value – [in] The desired value

inline ng_float_t get_position_noise() const

Gets the position_noise.

Returns:

The position_noise.

inline void set_position_noise(ng_float_t value)

Sets the position noise.

Parameters:

value – [in] The desired value

inline ng_float_t get_orientation_noise() const

Gets the orientation.

Returns:

The orientation noise.

inline void set_orientation_noise(ng_float_t value)

Sets the position_noise.

Parameters:

value – [in] The desired value

inline bool get_shuffle() const

Gets whether it should shuffle the agents before initializing them.

Returns:

True if it shuffles the agents.

inline void set_shuffle(bool value)

Sets whether it should shuffle the agents.

Parameters:

value – [in] The desired value

Public Static Attributes

static ng_float_t default_radius = 1

The default circle radius

static ng_float_t default_tolerance = static_cast<ng_float_t>(0.1)

The default goal tolerance

static ng_float_t default_position_noise = 0

The default position noise

static ng_float_t default_orientation_noise = 0

The default orientation noise

static ng_float_t default_shuffle = false

The default shuffle