#ifndef SIMULATOR_H #define SIMULATOR_H #include #include "env_map.h" #include "agent.h" #include "path_finder.h" #include #include #include #include class Simulator { public: Simulator(); Simulator( float timeStep, float neighborDist, unsigned int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const VEC3& velocity = VEC3(0) ); ~Simulator(); void doStep(); void setupScenario(unsigned int nbMaxAgent); void addPathsToAgents(); bool importAgents(std::string filename); bool exportAgents(std::string filename); void swapAgentsGoals(); EnvMap envMap_; std::vector agents_; float globalTime_; float timeStep_; }; #endif