Struct Participant

pub struct Participant {
    pub position: Array1<f64>,
    pub velocity: Array1<f64>,
    pub radius: f64,
    pub confidence: f64,
    pub in_obstacle: bool,
    /* private fields */
}

Struct for representing a participant in the ORCA algorithm.

Fields

position: Array1<f64>

velocity: Array1<f64>

radius: f64

confidence: f64

in_obstacle: bool

Implementations

impl Participant

pub fn new( position: Array1<f64>, velocity: Array1<f64>, radius: f64, confidence: f64, ) -> Self

pub fn with_inner_state(self, vmax: f64, target: Array1<f64>) -> Self

Assign some inner state to this participant.

pub fn update_position(&mut self, position: &Array1<f64>)

Update the position, the velocity and the internal preferred velocity of this participant.

pub fn in_obstacle(&mut self)

Update the information about this participant to be in an obstacle.

pub fn is_static(&self) -> bool

Check, if this participant is static, i.e., almost does not move.

pub fn orca( &self, others: &mut [Participant], obstacles: &[Obstacle], tau: f64, ) -> Array1<f64>

Perform ORCA for a set of other participants and obstacles.

The return value is the new velocity for the provided participant (“we”).

Trait Implementations

impl Clone for Participant

fn clone(&self) -> Participant

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Participant

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.