Program Listing for File agent_profile.h

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/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef CROWD_SIM_AGENT_PROFILE__H
#define CROWD_SIM_AGENT_PROFILE__H

#include <string>
#include <memory>

#include <yaml-cpp/yaml.h>

namespace crowd_sim {

class AgentProfile
{
public:
  AgentProfile(std::string profile_name_)
  : profile_name(profile_name_),
    profile_class(1),
    max_neighbors(10),
    obstacle_set(1),
    max_accel(0.0),
    max_angle_vel(0.0),
    max_speed(0.0),
    neighbor_dist(5.0),
    pref_speed(0.0),
    r(0.25),
    ORCA_tau(1.0),
    ORCA_tauObst(0.4)
  {}
  AgentProfile(const YAML::Node& input)
  : profile_name("N.A."),
    profile_class(1),
    max_neighbors(10),
    obstacle_set(1),
    max_accel(0.0),
    max_angle_vel(0.0),
    max_speed(0.0),
    neighbor_dist(5.0),
    pref_speed(0.0),
    r(0.25),
    ORCA_tau(1.0),
    ORCA_tauObst(0.4)
  {
    from_yaml(input);
  }

  YAML::Node to_yaml() const;
  void from_yaml(const YAML::Node& input);

  std::string profile_name;
  size_t profile_class, max_neighbors, obstacle_set;
  double max_accel, max_angle_vel, max_speed, neighbor_dist, pref_speed, r,
    ORCA_tau, ORCA_tauObst;
};

} //namespace crowd_sim

#endif