SteerSuiteGoalAreas

I finished adding support for goal areas to the ORCA, PPR and SF algorithms. There is still some interesting issues with the PPR algorithm which we can talk about later. Support for goal areas needs to be added per steering algorithm for now.

I created a new subspace in the subspaces folder that uses the goalRegion hallway-one-way-100-agent-goal-region.xml.

You can use a command like this to run it ../build/bin/steersim -ai sfAI -config configs/sfAI-config.xml -testcase ../subspaces/hallway-one-way-

100-agent-goal-region.xml

The to use this in an xml testcase you can do something similar to

<goalSequence>
<seekAxisAlignedBoxRegion>
<targetLocation> <x>-15</x> <y>0</y> <z>0</z> </targetLocation>
<desiredSpeed>1.3</desiredSpeed>
<timeDuration>1000.0</timeDuration>
<goalRegionBounds> <xmin>-17</xmin> <xmax>-13</xmax> <ymin>0</ymin> <ymax>0</ymax> <zmin>-2</zmin> <zmax>2</zmax> </goalRegionBounds>
</seekAxisAlignedBoxRegion>
</goalSequence>

You still need to give a location inside the region for the path planning algorithm to have a location to use.

The goal area is highlighted green on the left.

/images/goalArea.png