Map Implementation

Map modules hold the geometry of the environment and handle map/pedestrian collision detection.

Required Methods

In addition to the Base Module requirements Goals require the following:

VIPRA_MAP_INIT
 
std::vector<std::string> const& get_object_types_impl();
std::vector<VIPRA::f3d> const& get_objects_impl(std::string const& type);
 
bool collision_impl(VIPRA:f3d point);
bool collision_impl(VIPRA::Geometry::Circle area);
VIPRA::f_pnt ray_hit_impl(VIPRA::f3d start, VIPRA::f3d end);
 
VIPRA::f3d get_dimensions_impl() const;

Details

VIPRA_MAP_INIT

Parameters

• obstacles : std::vector<VIPRA::Polygon> - vector containing the VIPRA::Polygons for each obstacle
• types : std::vector<std::string> - vector containing a list of the types of objects in the map
• objects : std::map<std::string, VIPRA::f3dVec> - map containing each object type and the positions of each of the objects of those types

Expected Effects

The Map is ready for the first timestep of the simulation

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std::vector<std::string> const& get_object_types_impl();

Parameters

NONE

Returns

The list of object types in the map

Expected Effects

NONE

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std::vector<VIPRA::f3d> const& get_objects_impl(std::string const& type);

Parameters

• type - the type of object to get the positions of

Returns

vector containing the positions of the objects of the provided type

Expected Effects

NONE

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bool collision_impl(VIPRA:f3d point);

Parameters

• point - the point to check for collision with an obstacle

Returns

• true if the point is within an obstacle
• false if not

Expected Effects

NONE

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bool collision_impl(VIPRA::Geometry::Circle area);

Parameters

• area - the circle to check for collision with an obstacle

Returns

• true if any point inside the circle is also within an obstacle
• false if not

Expected Effects

NONE

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VIPRA::f_pnt ray_hit_impl(VIPRA::f3d start, VIPRA::f3d end);

Parameters

• start - the start of the line segment
• end - the end of the line segment

Returns

• The distance from start to the collision point, if the ray collides with an obstacle
• -1 if not

Expected Effects

NONE

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VIPRA::f3d get_dimensions_impl() const;

Parameters

NONE

Returns

The X, Y, and Z dimensions of the map

Expected Effects

NONE

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