Menge
Modular Pedestrian Simulation Framework for Research and Development
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Classes | Typedefs | Functions | Variables
PedVO Namespace Reference

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.
 

Detailed Description

Contains the specification of the pedestrian model based on Pedestrian Velocity Obstacles.

Function Documentation

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.

Parameters
linesLines defining the linear constraints.
lineNoThe specified line constraint.
radiusThe radius of the circular constraint.
optVelocityThe optimization velocity.
directionOptTrue if the direction should be optimized.
turnBiasThe turn bias of the agent
resultA reference to the result of the linear program.
Returns
True if successful.
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.

Parameters
linesLines defining the linear constraints.
radiusThe radius of the circular constraint.
optVelocityThe optimization velocity.
directionOptTrue if the direction should be optimized.
turnBiasThe turn bias of the agent
resultA reference to the result of the linear program.
Returns
The number of the line it fails on, and the number of lines if successful.
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.

Parameters
linesLines defining the linear constraints.
numObstLinesCount of obstacle lines.
beginLineThe line on which the 2-d linear program failed.
radiusThe radius of the circular constraint.
turnBiasThe agent's turn bias.
resultA reference to the result of the linear program.