Menge Modular Pedestrian Simulation Framework for Research and Development
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
 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.
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
 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.
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
 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.