orca.cpp File Reference

#include "collvoid_local_planner/orca.h"

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Namespaces
namespace	collvoid
Functions
void	collvoid::addAccelerationConstraintsXY (double max_vel_x, double acc_lim_x, double max_vel_y, double acc_lim_y, Vector2 cur_vel, double heading, double sim_period, bool holo_robot, std::vector< Line > &additional_orca_lines)
void	collvoid::addMovementConstraintsDiff (double error, double T, double max_vel_x, double max_vel_th, double heading, double v_max_ang, std::vector< Line > &additional_orca_lines)
void	collvoid::addMovementConstraintsDiffSimple (double max_track_speed, double heading, std::vector< Line > &additional_orca_lines)
double	collvoid::beta (double T, double theta, double v_max_ang)
double	collvoid::calculateMaxTrackSpeedAngle (double T, double theta, double error, double max_vel_x, double max_vel_th, double v_max_ang)
double	collvoid::calcVstar (double vh, double theta)
double	collvoid::calcVstarError (double T, double theta, double error)
Line	collvoid::createOrcaLine (Agent *me, Agent *other, double trunc_time, double timestep, double left_pref, double cur_allowed_error)
Line	collvoid::createOrcaLine (double combinedRadius, const Vector2 &relativePosition, const Vector2 &me_vel, const Vector2 &other_vel, double trunc_time, double timestep, double left_pref, double cur_allowed_error, bool controlled)
Line	collvoid::createStationaryAgent (Agent *me, Agent *other)
double	collvoid::gamma (double T, double theta, double error, double v_max_ang)
bool	collvoid::linearProgram1 (const std::vector< Line > &lines, size_t lineNo, float radius, const Vector2 &optVelocity, bool dirOpt, Vector2 &result)
size_t	collvoid::linearProgram2 (const std::vector< Line > &lines, float radius, const Vector2 &optVelocity, bool dirOpt, Vector2 &result)
void	collvoid::linearProgram3 (const std::vector< Line > &lines, size_t numObstLines, size_t beginLine, float radius, Vector2 &result)