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)
Public
ORCALine
(position, relativePosition, velocity, otherVelocity, combinedRadius, timeStep, invTimeHorizon)
Public
Public Variables
direction
Public
point
Public