415 lines
18 KiB
C++
415 lines
18 KiB
C++
/*
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* RVOSimulator3d.h
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* RVO2-3D Library
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*
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* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <https://gamma.cs.unc.edu/RVO2/>
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*/
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#ifndef RVO3D_RVO_SIMULATOR_H_
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#define RVO3D_RVO_SIMULATOR_H_
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/**
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* @file RVOSimulator3d.h
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* @brief Contains the RVOSimulator3D class.
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*/
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#include <cstddef>
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#include <limits>
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#include <vector>
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#include "Vector3.h"
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namespace RVO3D {
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class Agent3D;
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class KdTree3D;
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class Plane;
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/**
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* @brief Error value. A value equal to the largest unsigned integer, which is
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* returned in case of an error by functions in RVO::RVOSimulator.
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*/
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const std::size_t RVO3D_ERROR = std::numeric_limits<std::size_t>::max();
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/**
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* @brief Defines the simulation. The main class of the library that contains
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* all simulation functionality.
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*/
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class RVOSimulator3D {
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public:
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/**
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* @brief Constructs a simulator instance.
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*/
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RVOSimulator3D();
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/**
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* @brief Constructs a simulator instance and sets the default properties
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* for any new agent that is added.
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* @param[in] timeStep The time step of the simulation. Must be positive.
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* @param[in] neighborDist The default maximum distance (center point to
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* center point) to other agents a new agent takes
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* into account in the navigation. The larger this
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* number, the longer the running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe. Must be non-negative.
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* @param[in] maxNeighbors The default maximum number of other agents a new
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* agent takes into account in the navigation. The
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* larger this number, the longer the running time of
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* the simulation. If the number is too low, the
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* simulation will not be safe.
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* @param[in] timeHorizon The default minimum amount of time for which a new
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* agent's velocities that are computed by the
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* simulation are safe with respect to other agents.
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* The larger this number, the sooner an agent will
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* respond to the presence of other agents, but the
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* less freedom the agent has in choosing its
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* velocities. Must be positive.
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* @param[in] radius The default radius of a new agent. Must be
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* non-negative.
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* @param[in] maxSpeed The default maximum speed of a new agent. Must be
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* non-negative.
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* @param[in] velocity The default initial three-dimensional linear
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* velocity of a new agent (optional).
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*/
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RVOSimulator3D(float timeStep, float neighborDist, std::size_t maxNeighbors,
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float timeHorizon, float radius, float maxSpeed,
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const Vector3 &velocity = Vector3());
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/**
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* @brief Destroys this simulator instance.
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*/
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~RVOSimulator3D();
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/**
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* @brief Adds a new agent with default properties to the simulation.
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* @param[in] position The three-dimensional starting position of this agent.
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* @return The number of the agent or RVO::RVO3D_ERROR when the agent
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* defaults have not been set.
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*/
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std::size_t addAgent(const Vector3 &position);
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/**
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* @brief Adds a new agent to the simulation.
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* @param[in] position The three-dimensional starting position of this
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* agent.
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* @param[in] neighborDist The maximum distance (center point to center
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* point) to other agents this agent takes into
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* account in the navigation. The larger this number,
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* the longer the running time of the simulation. If
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* the number is too low, the simulation will not be
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* safe. Must be non-negative.
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* @param[in] maxNeighbors The maximum number of other agents this agent takes
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* into account in the navigation. The larger this
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* number, the longer the running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe.
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* @param[in] timeHorizon The minimum amount of time for which this agent's
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* velocities that are computed by the simulation are
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* safe with respect to other agents. The larger this
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* number, the sooner this agent will respond to the
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* presence of other agents, but the less freedom this
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* agent has in choosing its velocities. Must be
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* positive.
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* @param[in] radius The radius of this agent. Must be non-negative.
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* @param[in] maxSpeed The maximum speed of this agent. Must be
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* non-negative.
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* @param[in] velocity The initial three-dimensional linear velocity of
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* this agent (optional).
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* @return The number of the agent.
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*/
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std::size_t addAgent(const Vector3 &position, float neighborDist,
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std::size_t maxNeighbors, float timeHorizon,
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float radius, float maxSpeed,
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const Vector3 &velocity = Vector3());
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/**
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* @brief Lets the simulator perform a simulation step and updates the
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* three-dimensional position and three-dimensional velocity of each
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* agent.
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*/
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void doStep();
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/**
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* @brief Returns the specified agent neighbor of the specified agent.
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* @param[in] agentNo The number of the agent whose agent neighbor is to
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* be retrieved.
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* @param[in] neighborNo The number of the agent neighbor to be retrieved.
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* @return The number of the neighboring agent.
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*/
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std::size_t getAgentAgentNeighbor(std::size_t agentNo,
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std::size_t neighborNo) const;
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/**
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* @brief Returns the maximum neighbor count of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum neighbor count is
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* to be retrieved.
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* @return The present maximum neighbor count of the agent.
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*/
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std::size_t getAgentMaxNeighbors(std::size_t agentNo) const;
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/**
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* @brief Returns the maximum speed of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum speed is to be
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* retrieved.
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* @return The present maximum speed of the agent.
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*/
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float getAgentMaxSpeed(std::size_t agentNo) const;
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/**
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* @brief Returns the maximum neighbor distance of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum neighbor distance
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* is to be retrieved.
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* @return The present maximum neighbor distance of the agent.
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*/
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float getAgentNeighborDist(std::size_t agentNo) const;
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/**
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* @brief Returns the count of agent neighbors taken into account to
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* compute the current velocity for the specified agent.
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* @param[in] agentNo The number of the agent whose count of agent neighbors
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* is to be retrieved.
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* @return The count of agent neighbors taken into account to compute the
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* current velocity for the specified agent.
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*/
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std::size_t getAgentNumAgentNeighbors(std::size_t agentNo) const;
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/**
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* @brief Returns the count of ORCA constraints used to compute the
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* current velocity for the specified agent.
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* @param[in] agentNo The number of the agent whose count of ORCA constraints
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* i to be retrieved.
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* @return The count of ORCA constraints used to compute the current
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* velocity for the specified agent.
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*/
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std::size_t getAgentNumORCAPlanes(std::size_t agentNo) const;
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/**
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* @brief Returns the specified ORCA constraint of the specified agent.
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* @param[in] agentNo The number of the agent whose ORCA constraint is to be
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* retrieved.
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* @param[in] planeNo The number of the ORCA constraint to be retrieved.
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* @return A plane representing the specified ORCA constraint.
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* @note The halfspace to which the normal of the plane points is the
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* region of permissible velocities with respect to the specified
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* ORCA constraint.
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*/
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const Plane &getAgentORCAPlane(std::size_t agentNo,
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std::size_t planeNo) const;
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/**
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* @brief Returns the three-dimensional position of a specified agent.
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* @param[in] agentNo The number of the agent whose three-dimensional position
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* is to be retrieved.
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* @return The present three-dimensional position of the (center of the)
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* agent.
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*/
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const Vector3 &getAgentPosition(std::size_t agentNo) const;
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/**
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* @brief Returns the three-dimensional preferred velocity of a specified
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* agent.
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* @param[in] agentNo The number of the agent whose three-dimensional
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* preferred velocity is to be retrieved.
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* @return The present three-dimensional preferred velocity of the agent.
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*/
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const Vector3 &getAgentPrefVelocity(std::size_t agentNo) const;
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/**
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* @brief Returns the radius of a specified agent.
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* @param[in] agentNo The number of the agent whose radius is to be retrieved.
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* @return The present radius of the agent.
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*/
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float getAgentRadius(std::size_t agentNo) const;
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/**
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* @brief Returns the time horizon of a specified agent.
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* @param[in] agentNo The number of the agent whose time horizon is to be
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* retrieved.
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* @return The present time horizon of the agent.
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*/
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float getAgentTimeHorizon(std::size_t agentNo) const;
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/**
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* @brief Returns the three-dimensional linear velocity of a specified
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* agent.
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* @param[in] agentNo The number of the agent whose three-dimensional linear
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* velocity is to be retrieved.
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* @return The present three-dimensional linear velocity of the agent.
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*/
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const Vector3 &getAgentVelocity(std::size_t agentNo) const;
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/**
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* @brief Returns the global time of the simulation.
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* @return The present global time of the simulation (zero initially).
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*/
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float getGlobalTime() const { return globalTime_; }
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/**
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* @brief Returns the count of agents in the simulation.
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* @return The count of agents in the simulation.
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*/
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std::size_t getNumAgents() const { return agents_.size(); }
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/**
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* @brief Returns the time step of the simulation.
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* @return The present time step of the simulation.
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*/
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float getTimeStep() const { return timeStep_; }
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/**
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* @brief Removes an agent from the simulation.
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* @param[in] agentNo The number of the agent that is to be removed.
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* @note After the removal of the agent, the agent that previously had
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* number getNumAgents() - 1 will now have number agentNo.
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*/
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void removeAgent(std::size_t agentNo);
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/**
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* @brief Sets the default properties for any new agent that is added.
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* @param[in] neighborDist The default maximum distance (center point to
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* center point) to other agents a new agent takes
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* into account in the navigation. The larger this
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* number, the longer he running time of the
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* simulation. If the number is too low, the
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* simulation will not be safe. Must be non-negative.
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* @param[in] maxNeighbors The default maximum number of other agents a new
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* agent takes into account in the navigation. The
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* larger this number, the longer the running time of
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* the simulation. If the number is too low, the
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* simulation will not be safe.
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* @param[in] timeHorizon The default minimum amount of time for which a new
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* agent's velocities that are computed by the
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* simulation are safe with respect to other agents.
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* The larger this number, the sooner an agent will
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* respond to the presence of other agents, but the
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* less freedom the agent has in choosing its
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* velocities. Must be positive.
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* @param[in] radius The default radius of a new agent. Must be
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* non-negative.
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* @param[in] maxSpeed The default maximum speed of a new agent. Must be
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* non-negative.
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* @param[in] velocity The default initial three-dimensional linear
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* velocity of a new agent (optional).
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*/
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void setAgentDefaults(float neighborDist, std::size_t maxNeighbors,
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float timeHorizon, float radius, float maxSpeed,
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const Vector3 &velocity = Vector3());
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/**
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* @brief Sets the maximum neighbor count of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum neighbor
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* count is to be modified.
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* @param[in] maxNeighbors The replacement maximum neighbor count.
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*/
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void setAgentMaxNeighbors(std::size_t agentNo, std::size_t maxNeighbors);
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/**
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* @brief Sets the maximum speed of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum speed is to be
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* modified.
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* @param[in] maxSpeed The replacement maximum speed. Must be non-negative.
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*/
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void setAgentMaxSpeed(std::size_t agentNo, float maxSpeed);
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/**
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* @brief Sets the maximum neighbor distance of a specified agent.
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* @param[in] agentNo The number of the agent whose maximum neighbor
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* distance is to be modified.
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* @param[in] neighborDist The replacement maximum neighbor distance. Must be
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* non-negative.
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*/
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void setAgentNeighborDist(std::size_t agentNo, float neighborDist);
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/**
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* @brief Sets the three-dimensional position of a specified agent.
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* @param[in] agentNo The number of the agent whose three-dimensional
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* position is to be modified.
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* @param[in] position The replacement of the three-dimensional position.
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*/
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void setAgentPosition(std::size_t agentNo, const Vector3 &position);
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/**
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* @brief Sets the three-dimensional preferred velocity of a specified
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* agent.
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* @param[in] agentNo The number of the agent whose three-dimensional
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* preferred velocity is to be modified.
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* @param[in] prefVelocity The replacement of the three-dimensional preferred
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* velocity.
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*/
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void setAgentPrefVelocity(std::size_t agentNo, const Vector3 &prefVelocity);
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/**
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* @brief Sets the radius of a specified agent.
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* @param[in] agentNo The number of the agent whose radius is to be modified.
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* @param[in] radius The replacement radius. Must be non-negative.
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*/
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void setAgentRadius(std::size_t agentNo, float radius);
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/**
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* @brief Sets the time horizon of a specified agent with respect to other
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* agents.
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* @param[in] agentNo The number of the agent whose time horizon is to be
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* modified.
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* @param[in] timeHorizon The replacement time horizon with respect to other
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* agents. Must be positive.
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*/
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void setAgentTimeHorizon(std::size_t agentNo, float timeHorizon);
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/**
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* @brief Sets the three-dimensional linear velocity of a specified agent.
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* @param[in] agentNo The number of the agent whose three-dimensional linear
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* velocity is to be modified.
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* @param[in] velocity The replacement three-dimensional linear velocity.
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*/
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void setAgentVelocity(std::size_t agentNo, const Vector3 &velocity);
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/**
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* @brief Sets the time step of the simulation.
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* @param[in] timeStep The time step of the simulation. Must be positive.
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*/
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void setTimeStep(float timeStep) { timeStep_ = timeStep; }
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public:
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/* Not implemented. */
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RVOSimulator3D(const RVOSimulator3D &other);
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/* Not implemented. */
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RVOSimulator3D &operator=(const RVOSimulator3D &other);
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Agent3D *defaultAgent_;
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KdTree3D *kdTree_;
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float globalTime_;
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float timeStep_;
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std::vector<Agent3D *> agents_;
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friend class Agent3D;
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friend class KdTree3D;
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};
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} /* namespace RVO3D */
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#endif /* RVO3D_RVO_SIMULATOR_H_ */
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