Struct ORCALine

Public

A half-plane defined as the line splitting plane.

For ORCA purposes, the infeasible region of the half-plane is on the right side of the line.

Public Methods

DrawAsHalfPlane (draw, halfPlaneLength, halfPlaneWidth, color)
ORCALine (position, relativePosition, velocity, otherVelocity, combinedRadius, timeStep, invTimeHorizon)

Public Variables

direction
Public
point
Public