Utopia::Models::SimpleFlocking::AgentState Class Reference

An agent's state. More...

#include <state.hh>

Public Member Functions
	AgentState ()
	Default constructor with zero-initialized members.
template<typename RNGType >
	AgentState (const Config &cfg, const std::shared_ptr< RNGType > &rng)
	Constructor with config node and RNG.
auto	get_speed () const
	Returns the current speed of this agent.
auto	get_orientation () const
	Returns the current orientation in radians, [-π, +π)
const auto &	get_displacement () const
	The current value of the displacement vector.
auto	set_speed (double new_speed)
	Sets the speed and subsequently updates the displacement vector.
auto	set_orientation (double new_orientation)
	Sets the orientation and subsequently updates the displacement vector.

Protected Member Functions
void	update_displacement ()
	Updates the displacement vector using current speed and orientation.

Private Attributes
double	speed
	Agent speed.
double	orientation
	Orientation in radians, [-π, +π)
SpaceVecType< 2 >	displacement
	The current displacement vector, updated upon any changes.

Detailed Description

An agent's state.

Constructor & Destructor Documentation

AgentState() [1/2]

Utopia::Models::SimpleFlocking::AgentState::AgentState ( )

inline

Default constructor with zero-initialized members.

    :
        speed(0.)
    ,   orientation(0.)
    ,   displacement({0., 0.})
    {}

AgentState() [2/2]

template<typename RNGType >

Utopia::Models::SimpleFlocking::AgentState::AgentState ( const Config &  cfg, const std::shared_ptr< RNGType > &  rng  )

inline

Constructor with config node and RNG.

    :
        speed(get_as<double>("speed", cfg, 0.))
    ,   orientation(random_angle(rng))
    ,   displacement({0., 0.})
    {
        update_displacement();
    }

Member Function Documentation

get_displacement()

const auto & Utopia::Models::SimpleFlocking::AgentState::get_displacement ( ) const

inline

The current value of the displacement vector.

                                          {
        return displacement;
    }

get_orientation()

auto Utopia::Models::SimpleFlocking::AgentState::get_orientation ( ) const

inline

Returns the current orientation in radians, [-π, +π)

An orientation value of zero points in positive x direction while a value of ±π/2 points in ±y direction.

                                  {
        return orientation;
    }

get_speed()

auto Utopia::Models::SimpleFlocking::AgentState::get_speed ( ) const

inline

Returns the current speed of this agent.

                            {
        return speed;
    }

set_orientation()

auto Utopia::Models::SimpleFlocking::AgentState::set_orientation ( double  new_orientation )

inline

Sets the orientation and subsequently updates the displacement vector.

This also makes sure the new orientation is within a valid range

                                                  {
        orientation = constrain_angle(new_orientation);
        update_displacement();
    }

set_speed()

auto Utopia::Models::SimpleFlocking::AgentState::set_speed ( double  new_speed )

inline

Sets the speed and subsequently updates the displacement vector.

                                      {
        speed = new_speed;
        update_displacement();
    }

update_displacement()

void Utopia::Models::SimpleFlocking::AgentState::update_displacement ( )

inlineprotected

Updates the displacement vector using current speed and orientation.

                                {
        displacement[0] = speed * std::cos(orientation);
        displacement[1] = speed * std::sin(orientation);
    }

Member Data Documentation

displacement

SpaceVecType<2> Utopia::Models::SimpleFlocking::AgentState::displacement

private

The current displacement vector, updated upon any changes.

orientation

double Utopia::Models::SimpleFlocking::AgentState::orientation

private

Orientation in radians, [-π, +π)

Orientation zero points in positive x direction while ±π/2 points in ±y direction.

speed

double Utopia::Models::SimpleFlocking::AgentState::speed

private

Agent speed.

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The documentation for this class was generated from the following file:

• src/utopia/models/SimpleFlocking/state.hh