Agent.cpp

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/*
 * Copyright (c) 2012, Daniel Claes, Maastricht University
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Maastricht University nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */


#include "collvoid_local_planner/Agent.h"
#include "collvoid_local_planner/orca.h"
#include <boost/foreach.hpp>

namespace collvoid{

  void Agent::computeOrcaVelocity(Vector2 pref_velocity, bool convex){

    orca_lines_.clear();
    orca_lines_.insert(orca_lines_.end(), additional_orca_lines_.begin(), additional_orca_lines_.end());

    
    const size_t num_obst_lines = orca_lines_.size();
   
    if (controlled_) {
      /* Create agent ORCA lines. */
      BOOST_FOREACH (AgentPtr agent, agent_neighbors_) {
        double timestep = agent->timestep_;
        if (timestep < EPSILON)
          timestep = sim_period_;
        Line line;
        if (!convex) {
          line = createOrcaLine(this, agent.get(), trunc_time_, timestep, left_pref_, cur_allowed_error_);
        }
        else {
          VO new_agent_vo = createVO(position_, footprint_, velocity_, agent->position_, agent->footprint_, agent->velocity_, VOS);
          line = createOrcaLine(new_agent_vo.combined_radius, new_agent_vo.relative_position, velocity_, agent->velocity_, trunc_time_, timestep, left_pref_, cur_allowed_error_, agent->controlled_);
        }
        orca_lines_.push_back(line);
      }
    }
    size_t line_fail = linearProgram2(orca_lines_, max_speed_x_, pref_velocity, false, new_velocity_);

    if (line_fail < orca_lines_.size()) {
      linearProgram3(orca_lines_, num_obst_lines, line_fail, max_speed_x_, new_velocity_);
    }

  }

  void Agent::computeClearpathVelocity(Vector2 pref_velocity){
    if (controlled_) {
      computeAgentVOs();
    }
    new_velocity_ = calculateClearpathVelocity(samples_, vo_agents_, additional_orca_lines_, pref_velocity, max_speed_x_, use_truncation_);
  }

  void Agent::computeSampledVelocity(Vector2 pref_velocity){
    if (controlled_) {
      computeAgentVOs();
    }
    new_velocity_ = calculateNewVelocitySampled(samples_, vo_agents_, pref_velocity, max_speed_x_, use_truncation_);
  }

  
  void Agent::computeAgentVOs(){
    BOOST_FOREACH (AgentPtr agent, agent_neighbors_) {
      VO new_agent_vo;
      //use footprint or radius to create VO
      if (convex_){
        if (agent->controlled_){
          new_agent_vo = createVO(position_, footprint_, velocity_, agent->position_, agent->footprint_, agent->velocity_, type_vo_);
        }
        else {
          new_agent_vo = createVO(position_, footprint_, velocity_, agent->position_, agent->footprint_, agent->velocity_, VOS);
        }
      }
      else {
        if (agent->controlled_) {
          new_agent_vo = createVO(position_, radius_, velocity_, agent->position_, agent->radius_, agent->velocity_, type_vo_);
        }
        else {
          new_agent_vo = createVO(position_, radius_, velocity_, agent->position_, agent->radius_, agent->velocity_, VOS);
        }
        
      }
      //truncate
      if (use_truncation_) {
        new_agent_vo = createTruncVO(new_agent_vo, trunc_time_);
      }
      vo_agents_.push_back(new_agent_vo);

    }
  }

  void Agent::setLeftPref(double left_pref) {
    this->left_pref_ = left_pref;
  }

  void Agent::setRadius(double radius){
    this->radius_ = radius;
  }

  void Agent::setTruncTime(double trunc_time){
    this->trunc_time_ = trunc_time;
  }


  void Agent::setSimPeriod(double sim_period){
    sim_period_ = sim_period;
  }

  
  //used in orca for orcalines creation...
  collvoid::Vector2 Agent::getPosition(){
    return this->position_;
  }
  
  collvoid::Vector2 Agent::getVelocity(){
    return this->velocity_;
  }
  
  double Agent::getRadius(){
    return radius_;
  }

}