# Struct JobRVO Extends IJobParallelForBatched

## Inner Types

## Public Methods

Find the distance we can move towards our target without colliding with anything.

Evaluate gradient and value of the cost function at velocity p.

Generates ORCA half-planes for all obstacles near the agent.

Traces the vector field constructed out of the velocity obstacles.

## Public Static Methods

Bias towards the right side of agents.

Bias towards the right side of agents.

Clip a line to the feasible region of the half-plane given by the clipper.

Closest point on segment a to segment b.

Calculates how far inside the infeasible region of the ORCA half-planes the velocity is.

(x, 0, y)

Sorts the array in place using insertion sort.

Like LinearProgram2D, but the optimal velocity space is a segment instead of a point, however the current result has collapsed to a point.

Like LinearProgram2D, but the optimal velocity space is a segment instead of a point.

Finds the velocity with the smallest maximum penetration into the given half-planes.

Determinant of the 2x2 matrix defined by **vector1** and **vector2**.

True if **vector2** is to the left of **vector1**.

True if **vector2** is to the left of **vector1** or if they are colinear.

True if **vector2** is to the right of **vector1**.

True if **vector2** is to the right of **vector1** or if they are colinear.

## Public Variables

Should be in the range [0,1].