Struct jalansim::collision::CircleCollision

template <typename T>

ClassList > jalansim > collision > CircleCollision

Circle-based collision detection model. More...

• #include <circle.hpp>

Public Attributes

Type	Name
T	radius = T(0.1) Collision circle radius.

Public Functions

Type	Name
JALANSIM_HOST_DEVICE bool	check (const jalansim::map::Map< T > * m, T x, T y, T theta=T(0.0)) const Check for collision at specified position.
JALANSIM_HOST_DEVICE T	get_radius () const Get the current collision circle radius.
JALANSIM_HOST_DEVICE void	set_radius (T r) Set the collision circle radius.

Detailed Description

Uses a circular footprint to check for collisions with obstacles in the map by comparing the distance field value at the agent's position with the circle's radius.

Template parameters:

• T Numeric type (float, double)

Public Attributes Documentation

variable radius

Collision circle radius.

T jalansim::collision::CircleCollision< T >::radius;

---

Public Functions Documentation

function check

Check for collision at specified position.

inline JALANSIM_HOST_DEVICE bool jalansim::collision::CircleCollision::check (
    const jalansim::map::Map < T > * m,
    T x,
    T y,
    T theta=T(0.0)
) const

Parameters:

• m Pointer to the map containing distance field
• x X coordinate to check

• y Y coordinate to check

• theta Orientation angle (unused for circular collision)

Returns:

True if collision detected, false otherwise

---

function get_radius

Get the current collision circle radius.

inline JALANSIM_HOST_DEVICE T jalansim::collision::CircleCollision::get_radius () const

Returns:

Current radius value

---

function set_radius

Set the collision circle radius.

inline JALANSIM_HOST_DEVICE void jalansim::collision::CircleCollision::set_radius (
    T r
) 

Parameters:

• r New radius value

---

---

The documentation for this class was generated from the following file include/jalansim/collision/circle.hpp