Kaim::AvoidanceWorkspace Class Reference

#include <avoidanceworkspace.h>

Class Description

AvoidanceWorkspace aggregates at once:

• a root collider, that represent the Bot for which a velocity as to be found
• the Avoidance for nearby potential collider to be avoidance. It is typically fed by an IAvoidanceComputer instance and then provided to a IAvoidanceSolver to compute the more appropriate velocity.

Functions
	AvoidanceWorkspace ()
void	Reset (const AvoidanceCollider &rootCollider, KyFloat32 visualDebugAltitude=0.0f)
	Reset the workspace and prepare it for a given root collider. More...
AvoidanceWorkspaceAddColliderResult	AddCollider (const AvoidanceConfig &config, AvoidanceCollider &collider)
	Compute the time to collision and filters accordingly: More...
KyFloat32	ComputeAvoidanceScore (const Vec2f &candidateVelocity, const KyFloat32 safetyDistance, const KyFloat32 timeHorizon, KyFloat32 &collisionTime, KyInt32 &colliderIndex) const
	Computes the avoidance score. More...

Data
AvoidanceCollider	m_rootCollider
ColliderArray	m_colliders
	The Bot collider for which the AvoidanceWorkspace computes a velocity. More...
ColliderArray	m_ignoredColliders
	The array of discarded Colliders. More...

For internal use only
bool	m_doSendVisualDebugBlob
KyFloat32	m_visualDebugAltitude

Member Function Documentation

AvoidanceWorkspaceAddColliderResult Kaim::AvoidanceWorkspace::AddCollider	(	const AvoidanceConfig &	config,
		AvoidanceCollider &	collider
	)

Compute the time to collision and filters accordingly:

• if below AvoidanceConfig::m_minimalTimeToCollision: insert the collider in the workspace and return AvoidanceWorkspace_ColliderAdded
• else: ignore the collider and return AvoidanceWorkspace_ColliderIgnored All colliders are however retained in a ColliderArray, accordingly to the filtering, an can be retrieved there afterwards.

KyFloat32 Kaim::AvoidanceWorkspace::ComputeAvoidanceScore	(	const Vec2f &	candidateVelocity,
		const KyFloat32	safetyDistance,
		const KyFloat32	timeHorizon,
		KyFloat32 &	collisionTime,
		KyInt32 &	colliderIndex
	)		const

Computes the avoidance score.

void Kaim::AvoidanceWorkspace::Reset	(	const AvoidanceCollider &	rootCollider,
		KyFloat32	visualDebugAltitude = 0.0f
	)

Reset the workspace and prepare it for a given root collider.

visualDebugAltitude is used only in order to VisualDebug the 2d AvoidanceWorkspace at the given altitude, usually the Bot's altitude represented by this rootColider

Member Data Documentation

ColliderArray Kaim::AvoidanceWorkspace::m_colliders

The Bot collider for which the AvoidanceWorkspace computes a velocity.

The array of colliders which have been kept.

ColliderArray Kaim::AvoidanceWorkspace::m_ignoredColliders

The array of discarded Colliders.

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The documentation for this class was generated from the following files:

• gwnavruntime/pathfollower/avoidanceworkspace.h
• gwnavruntime/pathfollower/avoidanceworkspace.cpp