Corridor

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

struct CorridorScenario : public navground::sim::Scenario

A scenario where agents travel along an infinite corridor in opposite directions. Agents are initialize at non-overlapping random poses.

Registered properties:

• width (float, get_width)

• length (float, get_length)

• agent_margin (float, get_agent_margin)

• add_safety_to_agent_margin (bool, get_add_safety_to_agent_margin)

Public Functions

inline ng_float_t get_width() const

Gets the width of the corridor.

Returns:

The width.

inline void set_width(ng_float_t value)

Sets the width of the corridor.

Parameters:

value – [in] The desired width (positive)

inline ng_float_t get_length() const

Gets the length of the simulated portion of corridor. Agents experience an infinite corridor, as it wraps around.

Returns:

The length.

inline void set_length(ng_float_t value)

Sets the length of the simulated portion of corridor. Agents experience an infinite corridor, as it wraps around.

Parameters:

value – [in] The desired length (positive).

inline ng_float_t get_agent_margin() const

Gets the initial minimal distance between agents.

Returns:

The initial minimal distance between agents .

inline void set_agent_margin(ng_float_t value)

Sets the initial minimal distance between agents.

Parameters:

value – [in] The desired margin (positive)

inline bool get_add_safety_to_agent_margin() const

Whenever the agent’s safety margin should be considered in addition to get_agent_margin when initializing the agents’ poses.

Returns:

The add safety to agent margin.

inline void set_add_safety_to_agent_margin(bool value)

Sets whenever the agent’s safety margin should be considered in addition to get_agent_margin when initializing the agents’ poses.

Parameters:

value – [in] Whenever to consider the safety margin or not.