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Package segment defines a truncated cone-like object whose bottom is defined by a characteristic line segment (instead of a point).

Package vector defines utility functions on vectors in 2D ambient space.

Package solver solves a 2D linear programming problem in 2D ambient space.

Package solver solves a 2D linear programming problem projected into 3D ambient space.

Package circular defines a 2D bounding constraint that limits the maximum length the solution vector may be.

Package agent defines a velocity obstacle object which is constructed from two agents.

package cache specifies the truncaged velocity obstacle of A induced by B; that is, an object which tests for what velocies are permissible by A to choose that will not hit B. Geometrically, a truncated VO is a rounded cone, i.e.

Package wall defines a velocity obstacle object which is constructed from a line segment.

Package cache implements the VO for a wall segment obstacle.