admin/263-0007-00L-Advanced-Systems-Lab
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

implemented repulsive effects from pedestrians (3-7)

Browse Source
This commit is contained in:
smail alijagic
2026-03-21 20:42:15 +01:00
parent 261c7c9d43
commit 0f05b93b57
1 changed files with 46 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main.cpp
+45 -4
View File
@@ -35,7 +35,7 @@ struct Pedestrian {
Vector2d curr_vel, next_vel; // velocity Vector2d curr_vel, next_vel; // velocity
Vector2d destination; // $\vectorarrow{r}^0_\alpha$ Vector2d destination; // $\vectorarrow{r}^0_\alpha$
Vector2d desired_next_node; // $\vectorarrow{r}^k_\alpha$ Vector2d desired_next_node; // $\vectorarrow{r}^k_\alpha$
Vector2d actual_next_node; // $\vectorarrow{r}^k_\alpha$ Vector2d actual_next_node; // $\vectorarrow{r}^k_\alpha$ should be the same as desired_next_node but with obstacles it changes
Vector2d F_i; // social force Vector2d F_i; // social force
double desired_v0; // $v_\alpha^0$ desired speed in m/s e.g. 1.34 double desired_v0; // $v_\alpha^0$ desired speed in m/s e.g. 1.34
double actual_v0; double actual_v0;
@@ -111,8 +111,48 @@ Vector2d get_actual_direction(Pedestrian p) {
} }
void compute_repulsive_effects_from_pedestrians(Vector2d *F_i) { // $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = -\gradient_{\vectorarrow{r}_{\alpha \beta}} V_{\alpha \beta}[b(\vectorarrow{r}_{\alpha \beta})]$
void compute_repulsive_effects_from_pedestrians(Pedestrian* P[n_p], Pedestrian* p, double distance) {
double delta_t = 0.5; // assuming 0.5 seconds steps
Vector2d F_i = Vector2d();
for (int i = 0; i < n_p; i++) {
// only consider close pedestrians
if ((P[i]->curr_pos - p->curr_pos).norm() < distance) {
//
// $2b = \sqrt{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
//
// $\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert$
Vector2d r_ab = p->curr_pos - P[i]->curr_pos;
double r_ab_norm = (p->curr_pos - P[i]->curr_pos).norm();
// $\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert$
Vector2d e_beta = get_actual_direction(*P[i]);
Vector2d r_ab_something = p->curr_pos - P[i]->curr_pos - (e_beta * (P[i]->actual_v0 * delta_t));
double r_ab_something_norm = (p->curr_pos - P[i]->curr_pos - (e_beta * (P[i]->actual_v0 * delta_t))).norm();
// $v_\beta \Delta t$
double v_beta_delta_t = P[i]->actual_v0 * delta_t;
double b = sqrt((r_ab_norm + r_ab_something_norm) * (r_ab_norm + r_ab_something_norm) - (v_beta_delta_t) * (v_beta_delta_t)) / 2;
//
// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vectorarrow{r}_{\alpha \beta}}b$
//
// TODO: what is $V^0_{\alpha \beta}$
//
double v_null_alpha_beta = 0.0;
double sigma = 0.0;
double e = 2.718;
//
// $\grad_{\vectorarrow{r}_{\alpha \beta}} = \frac{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert) (\frac{\vectorarrow{r}_{\alpha \beta}}{\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert} + \frac{\vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta}{\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert})}{4b}$
//
Vector2d delta_r_alpha_beta = ( ( (r_ab / r_ab_norm) + (r_ab_something / r_ab_something_norm) ) * (r_ab_norm + r_ab_something_norm) ) / (4 * b);
Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta * ((v_null_alpha_beta / sigma) * (exp(-b / sigma)));
F_i += f_alpha_beta_r_alpha_beta;
}
}
p->F_i += F_i;
} }
void compute_repulsive_effects_from_borders(Vector2d *F_i) { void compute_repulsive_effects_from_borders(Vector2d *F_i) {
@@ -190,8 +230,9 @@ int main() {
// TODO: define appropriate distance
compute_repulsive_effects_from_pedestrians(F[i]); double distance = 0.0;
compute_repulsive_effects_from_pedestrians(&P, &p, distance);