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.