Menge
Modular Pedestrian Simulation Framework for Research and Development
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Contains the specification of the pedestrian model based on Pedestrian Velocity Obstacles. More...
Classes | |
class | Agent |
Defines an agent in the simulation. More... | |
class | AgentInitializer |
Class which determines the agent properties for each new PedVO agent. More... | |
class | DBEntry |
The simulator database entry for the PedVO simulator. More... | |
class | Simulator |
Defines the simulator operating on ORCA::Agent. More... | |
Typedefs | |
typedef ORCATypeAgentContext < Agent > | PedVOAgentContext |
Declaration of ORCA-type agent context for PedVO agents. | |
Functions | |
bool | linearProgram1 (const std::vector< Menge::Math::Line > &lines, size_t lineNo, float radius, const Vector2 &optVelocity, bool directionOpt, float turnBias, Vector2 &result) |
Solves a one-dimensional linear program on a specified line subject to linear constraints defined by lines and a circular constraint. More... | |
size_t | linearProgram2 (const std::vector< Menge::Math::Line > &lines, float radius, const Vector2 &optVelocity, bool directionOpt, float turnBias, Vector2 &result) |
Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint. More... | |
void | linearProgram3 (const std::vector< Menge::Math::Line > &lines, size_t numObstLines, size_t beginLine, float radius, float turnBias, Vector2 &result) |
Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint. More... | |
Variables | |
const float | TAU = 2.5f |
The default time horizon for predicting agent collisions. | |
const float | TAU_OBST = 0.15f |
The default time horizon for predicting obstacle collisions. | |
const float | TURNING_BIAS = 1.f |
The default turn bias. | |
const float | STRIDE_FACTOR = 1.57f |
The default stride factor. | |
const float | STRIDE_BUFFER = 0.9f |
The default stride buffer. | |
Contains the specification of the pedestrian model based on Pedestrian Velocity Obstacles.
bool PedVO::linearProgram1 | ( | const std::vector< Menge::Math::Line > & | lines, |
size_t | lineNo, | ||
float | radius, | ||
const Vector2 & | optVelocity, | ||
bool | directionOpt, | ||
float | turnBias, | ||
Vector2 & | result | ||
) |
Solves a one-dimensional linear program on a specified line subject to linear constraints defined by lines and a circular constraint.
lines | Lines defining the linear constraints. |
lineNo | The specified line constraint. |
radius | The radius of the circular constraint. |
optVelocity | The optimization velocity. |
directionOpt | True if the direction should be optimized. |
turnBias | The turn bias of the agent |
result | A reference to the result of the linear program. |
size_t PedVO::linearProgram2 | ( | const std::vector< Menge::Math::Line > & | lines, |
float | radius, | ||
const Vector2 & | optVelocity, | ||
bool | directionOpt, | ||
float | turnBias, | ||
Vector2 & | result | ||
) |
Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint.
lines | Lines defining the linear constraints. |
radius | The radius of the circular constraint. |
optVelocity | The optimization velocity. |
directionOpt | True if the direction should be optimized. |
turnBias | The turn bias of the agent |
result | A reference to the result of the linear program. |
void PedVO::linearProgram3 | ( | const std::vector< Menge::Math::Line > & | lines, |
size_t | numObstLines, | ||
size_t | beginLine, | ||
float | radius, | ||
float | turnBias, | ||
Vector2 & | result | ||
) |
Solves a two-dimensional linear program subject to linear constraints defined by lines and a circular constraint.
lines | Lines defining the linear constraints. |
numObstLines | Count of obstacle lines. |
beginLine | The line on which the 2-d linear program failed. |
radius | The radius of the circular constraint. |
turnBias | The agent's turn bias. |
result | A reference to the result of the linear program. |