Cross on a Torus

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

struct CrossTorusScenario : public navground::sim::Scenario

A scenario where agents move crosses in a middle zone, one half of the agents moving vertically and the other half horizontally. This world is period in both directions.

Registered properties:

• side (float, get_side)

• 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_side() const

Gets the side of simulate cell of the infinite lattice.

Returns:

The half-side of the squared arena.

inline void set_side(ng_float_t value)

Sets the side of simulate cell of the infinite lattice.

Parameters:

value – [in] The desired value (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.