class_r_v_o_1_1_r_v_o_simulator.html

多机器人路径规划算法

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          <td class="memname">int RVO::RVOSimulator::addObstacle           </td>
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          <td class="paramtype">const <a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a> &amp;&nbsp;</td>
          <td class="paramname"> <em>point1</em>, </td>
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Adds a line segment obstacle to the simulation. The line segment may not intersect previously added line segments in their interior. <dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>point1</em>&nbsp;</td><td>The position of the first endpoint of the line segment obstacle </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>point2</em>&nbsp;</td><td>The position of the second endpoint of the line segment obstacle </td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns the ID of the obstacle that has been added. It returns an errorcode when the function is called after the simulation has been initialized. </dd></dl>

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<a class="anchor" name="ed6d7b2d27b469e61deb6ecb7c6fae60"></a><!-- doxytag: member="RVO::RVOSimulator::setRoadmapAutomatic" ref="ed6d7b2d27b469e61deb6ecb7c6fae60" args="(bool automatic=true)" -->
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          <td class="memname">void RVO::RVOSimulator::setRoadmapAutomatic           </td>
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          <td class="paramtype">bool&nbsp;</td>
          <td class="paramname"> <em>automatic</em> = <code>true</code>          </td>
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Sets whether the mutually visible vertices of the roadmap should automatically be connected by edges when the simulation is initialized. Default is false. <dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>automatic</em>&nbsp;</td><td>If true, the mutually visible vertices will be connected in addition to manually specified edges. If false, no edges will created in addition to the manually specified ones. </td></tr>
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<a class="anchor" name="821b8c6f524c7eda2f54f81ba225a467"></a><!-- doxytag: member="RVO::RVOSimulator::addRoadmapVertex" ref="821b8c6f524c7eda2f54f81ba225a467" args="(const Vector2 &amp;position)" -->
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          <td class="memname">int RVO::RVOSimulator::addRoadmapVertex           </td>
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          <td class="paramtype">const <a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a> &amp;&nbsp;</td>
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Adds a vertex to the roadmap of environment. The roadmap is used for global planning for the agents around obstacles. <dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>position</em>&nbsp;</td><td>The position of the roadmap vertex </td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns the ID of the roadmap vertex that has been added. It returns an errorcode when the function is called after the simulation has been initialized. </dd></dl>

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<a class="anchor" name="a00529f80bf422bc5a12844399993cf7"></a><!-- doxytag: member="RVO::RVOSimulator::addRoadmapEdge" ref="a00529f80bf422bc5a12844399993cf7" args="(int vertexID1, int vertexID2)" -->
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          <td class="memname">int RVO::RVOSimulator::addRoadmapEdge           </td>
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Adds an edge between two vertices of the roadmap. The roadmap is undirected. <dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>vertexID1</em>&nbsp;</td><td>The ID of the first vertex of the edge </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>vertexID2</em>&nbsp;</td><td>The ID of the second vertex of the edge </td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns <a class="el" href="_r_v_o_simulator_8h.html#9434ab35beac846cb175acd06bb48c1a">RVO_SUCCESS</a> when successful, and an errorcode when the function is called after the simulation has been initialized. </dd></dl>

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<a class="anchor" name="4db589555c45186b6ac1c50f94c4cd95"></a><!-- doxytag: member="RVO::RVOSimulator::initSimulation" ref="4db589555c45186b6ac1c50f94c4cd95" args="()" -->
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          <td class="memname">void RVO::RVOSimulator::initSimulation           </td>
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Processes the input (goals, agents, obstacles and roadmap) of the simulation. After initialization, no content can be added anymore to the environment. 
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<a class="anchor" name="1bf620a40a55daa9207cfbb3a1feea5c"></a><!-- doxytag: member="RVO::RVOSimulator::doStep" ref="1bf620a40a55daa9207cfbb3a1feea5c" args="()" -->
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          <td class="memname">int RVO::RVOSimulator::doStep           </td>
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Causes the simulator to take another simulation step. Modifies position, velocity and orientation of agents. Updates the global time of the simulation, and sets a 'reached goal' flag when all of the agents have reached their goal. <dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns <a class="el" href="_r_v_o_simulator_8h.html#9434ab35beac846cb175acd06bb48c1a">RVO_SUCCESS</a> on success, and an errorcode when the simulation has not been initialized, or when the global parameters have not been set. </dd></dl>

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<a class="anchor" name="e6feb9aeb0acd4a6b773b80d928cdd89"></a><!-- doxytag: member="RVO::RVOSimulator::getReachedGoal" ref="e6feb9aeb0acd4a6b773b80d928cdd89" args="() const " -->
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          <td class="memname">bool RVO::RVOSimulator::getReachedGoal           </td>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns true when all agents have reached their goal. Returns false otherwise. </dd></dl>

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<a class="anchor" name="ba7c0330e2e539a58fec59d5d40d2ade"></a><!-- doxytag: member="RVO::RVOSimulator::getGlobalTime" ref="ba7c0330e2e539a58fec59d5d40d2ade" args="() const " -->
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          <td class="memname">float RVO::RVOSimulator::getGlobalTime           </td>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns the current global time of the simulation. Is initially 0. </dd></dl>

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<a class="anchor" name="f4e13e2b336c01626fdc3d9693402625"></a><!-- doxytag: member="RVO::RVOSimulator::getTimeStep" ref="f4e13e2b336c01626fdc3d9693402625" args="() const " -->
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          <td class="memname">float RVO::RVOSimulator::getTimeStep           </td>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns the currently set time step of the simulation. </dd></dl>

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<a class="anchor" name="8f17c944e96b256d1a5e731817fc7f75"></a><!-- doxytag: member="RVO::RVOSimulator::setTimeStep" ref="8f17c944e96b256d1a5e731817fc7f75" args="(float stepSize)" -->
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          <td class="memname">void RVO::RVOSimulator::setTimeStep           </td>
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          <td class="paramname"> <em>stepSize</em>          </td>
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Sets the time step of the simulation. <dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>stepSize</em>&nbsp;</td><td>The new time step of the simulation. </td></tr>