GitLab

Resolve "Implement ORCA::GetCost() correctly"

Closes #71

See merge request !106

Improved ORCA::GetCost(). It is now conceptually simpler, *and* it replaces MaxFloat (for forbidden velocities) by something more meaningful.

As a result, ORCA can now safely be used in a "sampling" or "gradient" policy.

- Made ORCASolver more efficient by removing a copy operation.

Dutra improvements

See merge request !105

TtcaDca now ignores neighbors behind the agent (assuming that the velocity == the viewing direction). This is important for this particular navigation algorithm.

TODO: Consider adding a "viewing angle" option to all cost functions. However, it is debatable whether or not this is part of an algorithm.

- Removed an incorrect minus sign.
- Now correcting dv and dp by the agent radii, as in GetCost.
- Now using dv instead of the "regular" velocity when necessary.

TtcaDca is now using the closed-form gradient again, instead of the approximation with sampling.

Bugfix #88 + Various performance improvements

See merge request !103

- CrowdSimulator::RunSimulationUntilEnd() now has parameters to enable/disable a progress bar and time measurements.
- Console application now measures and prints the running time.
- Removed CrowdSimulator::isConsoleApplication_.
- Fixed some Doxygen comments.

- Now ensuring that RegisterAllCostFunctions() works only once.
- Added documentation.

- Many cost functions now use PhantomAgent::GetDistanceSquared() instead of re-computing it. This saves a lot of time overall!
- WorldBase/Infinite/Toric: Faster construction of neighbor lists.

- Policy now stores cost functions as CostFunction* instead of shared_ptr<CostFunction>, which could cause unexpeced bottlenecks when running on multiple threads.
- CostFunction registration now uses modern C++ templates and lambda expressions, instead of C-style macros.
- Removed costFunctionRegistration.h/.cpp.

- Changed the OneWayFlow200 scenario to use a toric world.

GoalReachingForces and RandomFunction now have a default range of 0, because they do not consider any neighboring objects.

- Changed PhantomAgent so that it only stores an offset, and not an actual translated position. This allows the simulation to re-use a PhantomAgent over multiple frames, so we can now decide to do neighbor queries less often.
- Changed other classes accordingly.

Merge of the GUI branch

See merge request !102

- Added more documentation to HelperFunctions, Polygon2D, and Color.

- Now ignoring the output and screenshots folders.