Defines the basic agent properties and functionality that all simulation agents share. More...

#include <BaseAgent.h>

Inheritance diagram for Menge::Agents::BaseAgent:

Public Member Functions
	BaseAgent ()
	Default constructor.

void	initialize ()
	Initializes the agent.

void	update (float timeStep)
	Updates the two-dimensional position and two-dimensional velocity of this agent. More...

void	computeNewVelocity ()
	Given preferred velocity and neighboring agents and obstacles compute a new velocity. More...

const BaseAgent *	getNeighbor (int idx) const
	Returns a pointer to the neighbor with given index. More...

const Obstacle *	getObstacle (int idx) const
	Returns a pointer to the obstacle with given index. More...

void	setPreferredVelocity (PrefVelocity &velocity)
	set the agents preferred velocity to the input velocity. More...

void	addVelModifier (BFSM::VelModifier *v)
	Add an velocity modifier to the agent. More...

void	insertAgentNeighbor (const BaseAgent *agent, float distSq)
	Inserts an agent neighbor into the set of neighbors of this agent. More...

void	insertObstacleNeighbor (const Obstacle *obstacle, float distSq)
	Inserts a static obstacle neighbor into the set of neighbors of this agent. More...

virtual void	setStrideParameters (float stride, float buffer)
	Sets the density sensitivity parameters. More...

virtual void	startQuery ()
	clears the result vectors. Resets the filter

virtual void	filterAgent (const BaseAgent *agent, float distance)
	filters an agent and determines if it needs to be in the near set More...

virtual void	filterObstacle (const Obstacle *, float distance)
	filters an obstacle and determines if it needs to be in the near set More...

virtual Vector2	getQueryPoint ()
	gets the start point for the query More...

virtual float	getMaxAgentRange ()
	updates the max agent query range if conditions inside the filter are met typically, we don't shrink the query range until the result set is full More...

virtual float	getMaxObstacleRange ()
	updates the max query obstacle range if conditions inside the filter are met typically, we don't shrink the query range until the result set is full More...

Public Member Functions inherited from Menge::Agents::ProximityQuery
	ProximityQuery ()
	default Constructor.

Public Attributes
float	_maxSpeed
	The maximum speed the agent can take.

float	_maxAccel
	The maximum acceleration the agent can experience (interpreted isotropically).

float	_prefSpeed
	The preferred speed of the agent.

Vector2	_pos
	The current 2D position of the agent.

Vector2	_vel
	The current 2D velocity of the agent.

PrefVelocity	_velPref
	The 2D preferred velocity of the agent.

Vector2	_velNew
	The new velocity computed in computeNewVelocity. More...

Vector2	_orient
	The orientation vector (the direction the agent is facing which is not necessarily the same direction as the instantaneous velocity. More...

float	_maxAngVel
	The agent's maximum angular velocity (in radians/sec) – used for controlling the changes in agent orientation.

size_t	_maxNeighbors
	The number of nearby agents used to plan dynamic respones.

float	_neighborDist
	The maximum distance at which another agent will be considered for a response.

size_t	_class
	The population class for this agent. More...

size_t	_obstacleSet
	A mask indicating the obstacles with compatible ids which this agent can see. More...

float	_priority
	The priority of each agent. More...

size_t	_id
	A globally unique identifier for each agent.

float	_radius
	The agent's radius. More...

std::vector< BFSM::VelModifier * >	_velModifiers
	a set of velocity modifiers to be set with the agent. Allows for intermediate velocity changes

std::vector< NearAgent >	_nearAgents
	The nearby agents to which the agent should respond. More...

std::vector< NearObstacle >	_nearObstacles
	The nearby obstacles to which the agent should respond. More...

Additional Inherited Members
Protected Member Functions inherited from Menge::Agents::ProximityQuery
virtual	~ProximityQuery ()
	Virtual destructor.

Detailed Description

Defines the basic agent properties and functionality that all simulation agents share.

Member Function Documentation

void Menge::Agents::BaseAgent::addVelModifier ( BFSM::VelModifier * v )

Add an velocity modifier to the agent.

Parameters

v	The modifier to add

void Menge::Agents::BaseAgent::computeNewVelocity ( )

Given preferred velocity and neighboring agents and obstacles compute a new velocity.

This should be overriden by child classes to give unique behaviors. Each pedestrian model is uniquely defined by how it computes its new velocity and this is the critical class.

Trying to instantiate a BaseAgent will cause an exception to be thrown when calling this function.

void Menge::Agents::BaseAgent::filterAgent	(	const BaseAgent *	agent,
		float	distance
	)

virtual

filters an agent and determines if it needs to be in the near set

Parameters

agent	the agent to consider
distance	the distance to the agent

Implements Menge::Agents::ProximityQuery.

void Menge::Agents::BaseAgent::filterObstacle	(	const Obstacle *	obstacle,
		float	distance
	)

virtual

filters an obstacle and determines if it needs to be in the near set

Parameters

obstacle	the obstacle to consider
distance	the distance to the obstacle

Implements Menge::Agents::ProximityQuery.

float Menge::Agents::BaseAgent::getMaxAgentRange ( )

virtual

updates the max agent query range if conditions inside the filter are met typically, we don't shrink the query range until the result set is full

Returns: The Max query range. Typically this is the initial range unless some special conditions are met

Implements Menge::Agents::ProximityQuery.

virtual float Menge::Agents::BaseAgent::getMaxObstacleRange ( )

inlinevirtual

updates the max query obstacle range if conditions inside the filter are met typically, we don't shrink the query range until the result set is full

Returns: The Max query range. Typically this is the initial range unless some special conditions are met

Implements Menge::Agents::ProximityQuery.

const BaseAgent* Menge::Agents::BaseAgent::getNeighbor ( int idx ) const

inline

Returns a pointer to the neighbor with given index.

Parameters

idx	The index of the desired agent. This index is not validated.

Returns: Pointer to the neighboring agent.

const Obstacle* Menge::Agents::BaseAgent::getObstacle ( int idx ) const

inline

Returns a pointer to the obstacle with given index.

Parameters

idx	The index of the desired obstacle. This index is not validated.

Returns: Pointer to the nearby obstacle.

virtual Vector2 Menge::Agents::BaseAgent::getQueryPoint ( )

inlinevirtual

gets the start point for the query

Returns: the query point for this filter

Implements Menge::Agents::ProximityQuery.

void Menge::Agents::BaseAgent::insertAgentNeighbor	(	const BaseAgent *	agent,
		float	distSq
	)

Inserts an agent neighbor into the set of neighbors of this agent.

Parameters

agent	A pointer to the agent to be inserted.
distSq	the distance to the indicated agent

void Menge::Agents::BaseAgent::insertObstacleNeighbor	(	const Obstacle *	obstacle,
		float	distSq
	)

Inserts a static obstacle neighbor into the set of neighbors of this agent.

Parameters

obstacle	a pointer to the obstacle to be inserted
distSq	the distance to the indicated obstacle

void Menge::Agents::BaseAgent::setPreferredVelocity ( PrefVelocity & velocity )

set the agents preferred velocity to the input velocity.

Parameters

velocity to be applied to the agent.

virtual void Menge::Agents::BaseAgent::setStrideParameters	(	float	stride,
		float	buffer
	)

inlinevirtual

Sets the density sensitivity parameters.

Parameters

stride	The stride factor. The physical component capturing height and the physicl relationship between speed and stride length.
buffer	The stride buffer. The psychological buffer required beyond that needed for stride length.

Reimplemented in PedVO::Agent.

void Menge::Agents::BaseAgent::update ( float timeStep )

Updates the two-dimensional position and two-dimensional velocity of this agent.

Parameters

timeStep The time step that will be taken.

user-define max acceleration and the smallest required acceleration

Member Data Documentation

size_t Menge::Agents::BaseAgent::_class

The population class for this agent.

Used to define behavior and visualization properties.

std::vector<NearAgent> Menge::Agents::BaseAgent::_nearAgents

The nearby agents to which the agent should respond.

Each pair consists of distance between the agent positions, squared and the pointer to the neigboring agent.

std::vector<NearObstacle> Menge::Agents::BaseAgent::_nearObstacles

The nearby obstacles to which the agent should respond.

Each pair consists of distance between agent position and wall, squared and the pointer to the wall.

size_t Menge::Agents::BaseAgent::_obstacleSet

A mask indicating the obstacles with compatible ids which this agent can see.

This is a bitwise mask such that if the ith bit is 1, obstacles with id 2^i are visible.

Vector2 Menge::Agents::BaseAgent::_orient

The orientation vector (the direction the agent is facing which is not necessarily the same direction as the instantaneous velocity.

Not all pedestrian models require orientation in their calculation of a new velocity. However, by introducing the property here, we accomplish two things:

All agents which do require orientation can update their orientation in a common mechanism, making comparisons them less dependent on differences in orientation computation and focusing on differences in the new velocity computation.
Second, it provides orientation information to the output trajectories for later visualization.

float Menge::Agents::BaseAgent::_priority

The priority of each agent.

The relative priority of agents determines aspects of their interaction behavior.

float Menge::Agents::BaseAgent::_radius

The agent's radius.

If the agent is represented as a circle, then this is simply the circle's radius. If the agent is represented as an ellipse, then this is the radius perpendicular to the orientation. Other geometries should provide their own interpretation.

At a minimum, it is used to determine sideways clearance.

Vector2 Menge::Agents::BaseAgent::_velNew

The new velocity computed in computeNewVelocity.

This exists to allow the agents to be updated in parallel while preserving order-of-evaluation independence.

The documentation for this class was generated from the following files:

src/menge/MengeCore/Agents/BaseAgent.h
src/menge/MengeCore/Agents/BaseAgent.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation