avoidance

Documentation

Index

• func Avoid(db database.RO, r float64) constraint.Steer
• func SLSDO(o agent.RO) constraint.Steer
• func SLSDOFeature(f feature.RO) constraint.Steer

Functions

func Avoid

func Avoid(db database.RO, r float64) constraint.Steer

func SLSDO

func SLSDO(o agent.RO) constraint.Steer

SLSDO calculates a steering acceleration given an agent-agent interaction. This is based on the slsdo avoidance algorithm. See https://slsdo.github.io/steering-behaviors/ for more information.

N.B.: In the original slsdo algorithm, there is consideration for the time-to-collision (lb). We assume this value is accounted for by the caller, which should iterate over all local neighbors of the input agent a.

func SLSDOFeature

func SLSDOFeature(f feature.RO) constraint.Steer