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

Public Variables

direction
Public
point
Public