irsim.lib.behavior.group_behavior_methods#

Classes#

OrcaGroupBehavior

Class-based ORCA group behavior with one-time initialization.

Functions#

`beh_omni_orca`(members, **kwargs)	Registered initializer returning a class-based handler for ORCA.
`beh_diff_orca`(members, **kwargs)	Registered initializer returning a class-based ORCA handler for

Module Contents#

irsim.lib.behavior.group_behavior_methods.beh_omni_orca(members: list[irsim.world.object_base.ObjectBase], **kwargs: Any)[source]#: Registered initializer returning a class-based handler for ORCA.

irsim.lib.behavior.group_behavior_methods.beh_diff_orca(members: list[irsim.world.object_base.ObjectBase], **kwargs: Any)[source]#: Registered initializer returning a class-based ORCA handler for differential-drive robots.

class irsim.lib.behavior.group_behavior_methods.OrcaGroupBehavior(members: list[irsim.world.object_base.ObjectBase], neighborDist: float = 15.0, maxNeighbors: int = 10, timeHorizon: float = 20.0, timeHorizonObst: float = 10.0, safe_radius: float = 0.1, maxSpeed: float | None = None, **kwargs: Any)[source]#

Class-based ORCA group behavior with one-time initialization.

ORCA plans a collision-free holonomic velocity (vx, vy) for every member. omni members use it directly; diff members map it to a (linear, angular) command via omni_to_diff().