Merge branch 'ahmed' into lbaumberger
This commit is contained in:
lbaumberger
@@ -0,0 +1 @@
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ColumnLimit: 1000
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@@ -0,0 +1,52 @@
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#pragma once
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#include "vector2d.hpp"
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struct Obstacle {
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Vector2d start;
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Vector2d end;
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Obstacle() : start(0, 0), end(0, 0) {}
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Obstacle(Vector2d s, Vector2d e) : start(s), end(e) {}
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// Find the point of the obstacle that is nearest to p
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// # 15 flops
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Vector2d find_nearest_obstacle_point(Vector2d p) {
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// # 2 ADDs
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Vector2d obstacle_v = end - start;
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// # 9 flops = 2 ADDs, 2 MULTs, 1 ADD, 1 DIV, 2 MULTs, 1 ADD
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double projection = (p - start).dot(obstacle_v) / obstacle_v.dot(obstacle_v);
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if (projection < 0.0)
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projection = 0.0;
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else if (projection > 1.0)
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projection = 1.0;
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// # 4 flops = 2 ADDs, 2 MULTs
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return start + obstacle_v * projection;
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}
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};
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struct Board {
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double length, width;
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Obstacle *obstacles; // array of obstacles (represented as lines) that are present on the board
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int n_obstacles; // number of obstacles
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Board(double l, double w, int n, Obstacle *o) : length(l), width(w), n_obstacles(n + 4) {
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obstacles = new Obstacle[n + 4];
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for (int i = 0; i < n; i++) {
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obstacles[i] = o[i];
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}
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// borders of the board: bottom, right, top, left
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obstacles[n] = Obstacle(Vector2d(0, 0), Vector2d(l, 0));
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obstacles[n + 1] = Obstacle(Vector2d(l, 0), Vector2d(l, w));
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obstacles[n + 2] = Obstacle(Vector2d(l, w), Vector2d(0, w));
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obstacles[n + 3] = Obstacle(Vector2d(0, w), Vector2d(0, 0));
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}
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~Board() { delete[] obstacles; }
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};
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+80
-118
@@ -1,132 +1,94 @@
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#include <forces.h>
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#include "forces.hpp"
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#include <math.h>
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// return the direction between curr position and destination
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// $\vectorarrow{e}_\alpha(t)$
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Vector2d get_desired_direction(Pedestrian &p)
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{
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Vector2d diff = p.desired_next_node - p.curr_pos;
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double length = diff.norm();
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return (p.desired_next_node - p.curr_pos) / length;
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}
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// return the direction between curr position and destination
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// $\vectorarrow{e}_\alpha(t)$
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Vector2d get_actual_direction(Pedestrian &p)
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{
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Vector2d diff = p.actual_next_node - p.curr_pos;
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double length = diff.norm();
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return (p.actual_next_node - p.curr_pos) / length;
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}
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// double w(Vector2d e, Vector2d f) {
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//
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// if (e.dot(f) >= f.norm() * PHI_DEG) return 1.0;
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// return C;
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//
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// }
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double w(Vector2d e, Vector2d f)
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{
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// The w() function should check if the angle between the desired direction e and the force f is within the field of view.
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// Per equation (7), the condition is:
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// e · f ≥ ||f|| * cos(phi)
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// where phi = 100° (half of the 200° field of view (PHI_DEG)).
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const double phi = (PHI_DEG / 2.0) * M_PI / 180.0; // half-angle in radians
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if (e.dot(f) >= f.norm() * cos(phi))
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// # 8 flops = 5 MULTs, 2 ADD, 1 SQRT
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double w(Vector2d e, Vector2d f) {
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if (e.dot(f) >= f.norm() * cos_phi)
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return 1.0;
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return C;
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else
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return c;
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}
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// F_i is the current position resp. direction vector of pedestrian p in time i?
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//
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// $\vectorarrow{F}_\alpha(\vectorarrow{v}_\alpha, v^0_\alpha \vectorarrow{e}_\alpha) \vectorarrow{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vectorarrow{e}_\alpha - \vectorarrow{v}_\alpha)$
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//
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void compute_acceleration_term(Pedestrian *p)
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{
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Vector2d desired_velocity = get_desired_direction(*p) * p->desired_v0;
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|
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// TODO: How to get this number
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// Probably needs to lookup the map and see if the desired position is reachable
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Vector2d actual_velocity = get_actual_direction(*p) * p->actual_v0;
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double tau_inv = 1 / TAU;
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p->F_i += (desired_velocity - actual_velocity) * tau_inv;
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}
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// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = -\gradient_{\vectorarrow{r}_{\alpha \beta}} V_{\alpha \beta}[b(\vectorarrow{r}_{\alpha \beta})]$
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void compute_repulsive_effects_from_pedestrians(Pedestrian *P, Pedestrian *p, int N)
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{
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double delta_t = 0.5; // assuming 0.5 seconds steps
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for (int i = 0; i < N; i++)
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{
|
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// TODO: add check for $\vectorarrow{e} * \vectorarrow{f} >= \Arrowvert \vectorarrow{f} \Arrowvert \cos(\phi) $
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// only consider close pedestrians
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if (P + i == p)
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continue;
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if ((P[i].curr_pos - p->curr_pos).norm() < DISTANCE)
|
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{
|
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//
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// $2b = \sqrt{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
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//
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// $\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert$
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Vector2d r_ab = p->curr_pos - P[i].curr_pos;
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double r_ab_norm = (p->curr_pos - P[i].curr_pos).norm();
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// $\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert$
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Vector2d e_beta = get_actual_direction(P[i]);
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Vector2d r_ab_something = p->curr_pos - P[i].curr_pos - (e_beta * (P[i].actual_v0 * delta_t));
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double r_ab_something_norm = (p->curr_pos - P[i].curr_pos - (e_beta * (P[i].actual_v0 * delta_t))).norm();
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// $v_\beta \Delta t$
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double v_beta_delta_t = P[i].actual_v0 * delta_t;
|
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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;
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|
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//
|
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// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vectorarrow{r}_{\alpha \beta}}b$
|
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//
|
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// TODO: what is $V^0_{\alpha \beta}$ probably some number?
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//
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//
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// $\grad_{\vectorarrow{r}_{\alpha \beta}} = \frac{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert) (\frac{\vectorarrow{r}_{\alpha \beta}}{\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert} + \frac{\vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta}{\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert})}{4b}$
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//
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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);
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// $\vectorarrow{f}_{\alpha \beta}$
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Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
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p->F_i += f_alpha_beta_r_alpha_beta * w(get_desired_direction(*p), f_alpha_beta_r_alpha_beta * -1);
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}
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// # 2 DIVs
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double g(double v_max_alpha, double w_alpha_norm) {
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if (w_alpha_norm <= v_max_alpha) {
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return 1;
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}
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return v_max_alpha / w_alpha_norm;
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}
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// TODO: missing
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void compute_repulsive_effects_from_borders(Sidewalk &S, Pedestrian *p)
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{
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// # 8 flops
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void compute_acceleration_term(Pedestrian *p) {
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// # 2 flops
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Vector2d desired_velocity = p->e * p->desired_v0;
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Vector2d actual_velocity = p->curr_vel;
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// # 6 flops = 4 ADDs, 2 DIVs
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p->f_i += (desired_velocity - actual_velocity) / tau_alpha;
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}
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Vector2d *obstacles = S.obstacles;
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int n_obs = S.n_obstacles;
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// # 55(N - 1) = 55N - 55 flops
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void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestrian *p, int N) {
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for (int i = 0; i < n_obs; i++)
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{
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Vector2d obstacle = obstacles[i];
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// TODO: find out the variables and parameters
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//
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// $\vectorarrow{F}_{\alpha B}(\vectorarrow{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert / R} \frac{\vectorarrow{r}_{\alpha B}}{\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert}$
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//
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// double e = 2.718;
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// we could just use exp
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for (int i = 0; i < N; i++) {
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// $\vectorarrow{r}_{\alpha B}$
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Vector2d r_ab = p->curr_pos - obstacle;
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// $\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert$
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if (pedestrians + i == p)
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continue;
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// # Optional: Do not consider far away pedestrians from current pedestrian
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// # Might get better speed up, remove if not
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// if ((pedestrians[i].curr_pos - p->curr_pos).norm() > DISTANCE) {
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// continue;
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// }
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// # 2 ADDs
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Vector2d r_ab = p->curr_pos - pedestrians[i].curr_pos;
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// # 4 flops = 1 SQRT, 2 MULTs, 1 ADD
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double r_ab_norm = r_ab.norm();
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if (r_ab_norm < 1e-6)
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continue;
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// repulsive force vector (Direction * Magnitude) (Edquation 6)
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Vector2d f_ab = (r_ab / r_ab_norm) * (U0_AB / R) * exp(-r_ab_norm / R);
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p->F_i += f_ab * w(get_desired_direction(*p), f_ab * -1);
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Vector2d e_b = pedestrians[i].e;
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// # 2 MULTs
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double s_b = pedestrians[i].desired_v0 * delta_t;
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// # 4 flops = 2 ADDs, 2 MULTs
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Vector2d r_ab2 = r_ab - (e_b * s_b);
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// # 4 flops = 1 SQRT, 2 MULTs, 1 ADD
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double r_ab2_norm = r_ab2.norm();
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// # 7 flops = 1 SQRT, 3 ADDs, 2 MULTs, 1 DIV
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double b = sqrt((r_ab_norm + r_ab2_norm) * (r_ab_norm + r_ab2_norm) - s_b * s_b) / 2;
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// # 12 flops = 6 DIVs, 3 ADDs, 3 MULTs
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Vector2d b_grad = (r_ab / r_ab_norm + r_ab2 / r_ab2_norm) * (r_ab_norm + r_ab2_norm) / (4 * b);
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// # 6 flops = 3 MULTs, 2 DIVs, 1 EXP
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Vector2d f_ped = b_grad * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
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// # 14 flops: 9 MULTs, 4 ADDs, 1 SQRT
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p->f_i += f_ped * w(p->e, f_ped * -1);
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}
|
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}
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|
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// # Assume that the four borders are also 4 obstacles
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// # 36 n_obstacles flops = 144 flops
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void compute_repulsive_effects_from_borders(Board &board, Pedestrian *p) {
|
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|
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Obstacle *obstacles = board.obstacles;
|
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int n_borders = board.n_obstacles;
|
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|
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for (int i = 0; i < n_borders; i++) {
|
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|
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Obstacle obstacle = obstacles[i];
|
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|
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// # 17 flops
|
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Vector2d r_aB = p->curr_pos - obstacle.find_nearest_obstacle_point(p->curr_pos);
|
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|
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// # 17 flops = 2 DIVs, 1 SQRT, 2 MULTs, 1 ADD, 2 MULTs, 1 DIV, 2 MULTs, 1 EXP, 1 SQRT, 2 MULTs, 1 ADD, 1 DIV
|
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Vector2d f_obst = (r_aB / r_aB.norm()) * (U0_AB / R) * std::exp(-r_aB.norm() / R);
|
||||
|
||||
// # 2 ADDs
|
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p->f_i += f_obst;
|
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}
|
||||
}
|
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|
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+37
@@ -0,0 +1,37 @@
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#pragma once
|
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#include "board.hpp"
|
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#include "pedestrian.hpp"
|
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#include <cmath>
|
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|
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const double tau_alpha = 0.5;
|
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|
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const double V0_AB = 2.1;
|
||||
|
||||
const double SIGMA = 0.3;
|
||||
|
||||
const double U0_AB = 10.0;
|
||||
|
||||
const double R = 0.2;
|
||||
|
||||
const double c = 0.5;
|
||||
|
||||
const double phi = 100.0 / 180.0 * M_PI;
|
||||
|
||||
const double cos_phi = cos(phi);
|
||||
|
||||
const double delta_t = 2;
|
||||
|
||||
const double dt = 0.01;
|
||||
|
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// # Optional (forces.cpp: compute_repulsive_effects_from_pedestrians)
|
||||
// const double DISTANCE = 2.0;
|
||||
|
||||
double w(Vector2d e, Vector2d f);
|
||||
|
||||
double g(double v_max_alpha, double w_alpha_norm);
|
||||
|
||||
void compute_acceleration_term(Pedestrian *p);
|
||||
|
||||
void compute_repulsive_effects_from_pedestrians(Pedestrian *P, Pedestrian *p, int N);
|
||||
|
||||
void compute_repulsive_effects_from_borders(Board &B, Pedestrian *p);
|
||||
@@ -1,130 +1,111 @@
|
||||
#include <cfloat>
|
||||
#include "board.hpp"
|
||||
#include "forces.hpp"
|
||||
#include "math.h"
|
||||
#include "pedestrian.hpp"
|
||||
#include "tsc_x86.h"
|
||||
#include "vector2d.hpp"
|
||||
#include <iostream>
|
||||
#include <math.h>
|
||||
#include <vector2d.h>
|
||||
#include <pedestrian.h>
|
||||
#include <sidewalk.h>
|
||||
#include <forces.h>
|
||||
|
||||
#define BOARD_WIDTH 10.0
|
||||
#define BOARD_LENGTH 50.0
|
||||
|
||||
using namespace std;
|
||||
|
||||
// Numer of pedestrians
|
||||
// $n_p$
|
||||
const int n_p = 100;
|
||||
// const int n_p = 100;
|
||||
|
||||
// Number of iterations
|
||||
// $n_{iter}$
|
||||
const int n_iter = 100;
|
||||
// const int n_iter = 100;
|
||||
|
||||
Pedestrian *init_pedestrians()
|
||||
{
|
||||
Pedestrian *init_pedestrians(int n_p) {
|
||||
Pedestrian *P = new Pedestrian[n_p];
|
||||
for (int i = 0; i < n_p; i++)
|
||||
{
|
||||
P[i] = Pedestrian();
|
||||
std::random_device rd; // use for truly random simulation
|
||||
std::mt19937 gen(rd()); // use rd instead of 42 as seed for real randomness
|
||||
std::normal_distribution<double> velocity_gen(1.34, 0.26); // 1.34 and 0.26 are the mean and stdrd deviation used in paper
|
||||
std::uniform_real_distribution<double> x_gen(2, BOARD_LENGTH - 2);
|
||||
std::uniform_real_distribution<double> y_gen(2, BOARD_WIDTH - 2);
|
||||
for (int i = 0; i < n_p / 2; i++) {
|
||||
Vector2d start_pos = Vector2d(1, y_gen(gen));
|
||||
Vector2d destination = Vector2d(BOARD_LENGTH - 1, y_gen(gen));
|
||||
double desired_v0 = velocity_gen(gen);
|
||||
double v_max = 1.3 * desired_v0;
|
||||
P[i] = Pedestrian(WHITE, (destination - start_pos) / (destination - start_pos).norm() * desired_v0, start_pos, (destination - start_pos) / (destination - start_pos).norm(), v_max, desired_v0, destination, Vector2d());
|
||||
}
|
||||
|
||||
for (int i = n_p / 2; i < n_p; i++) {
|
||||
Vector2d start_pos = Vector2d(BOARD_LENGTH - 1, y_gen(gen));
|
||||
Vector2d destination = Vector2d(1, y_gen(gen));
|
||||
double desired_v0 = velocity_gen(gen);
|
||||
double v_max = 1.3 * desired_v0;
|
||||
P[i] = Pedestrian(BLACK, (destination - start_pos) / (destination - start_pos).norm() * desired_v0, start_pos, (destination - start_pos) / (destination - start_pos).norm(), v_max, desired_v0, destination, Vector2d(0, 0));
|
||||
}
|
||||
return P;
|
||||
}
|
||||
|
||||
Sidewalk init_sidewalk(int width, int length)
|
||||
{
|
||||
int main(int argc, const char *argv[]) {
|
||||
|
||||
Vector2d obs[] = {Vector2d(2.0, 1.0), Vector2d(4.0, 1.0), Vector2d(6.0, 2.0), Vector2d(6.0, 4.0)};
|
||||
return Sidewalk(width, length, 4, obs);
|
||||
}
|
||||
Obstacle obs[] = {};
|
||||
Board board = Board(BOARD_LENGTH, BOARD_WIDTH, 0, obs);
|
||||
|
||||
int main()
|
||||
{
|
||||
int n_p = atoi(argv[1]);
|
||||
int n_iter = atoi(argv[2]);
|
||||
Pedestrian *pedestrians = init_pedestrians(n_p);
|
||||
|
||||
// ! DONT TOUCH
|
||||
// # Start here or right after function signature
|
||||
uint64_t start = start_tsc();
|
||||
|
||||
// $\vec{v}^0_i$
|
||||
// Velocity at iteration $t$ for pedestrian $i$
|
||||
double v[n_iter][n_p];
|
||||
// # (8 + 55N - 55 + 144 + 4 + 8 + 4 + 10)*n_p*n_iter
|
||||
for (int t = 0; t < n_iter; t++) {
|
||||
// Pass1: conmpute all forces from the current state
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
|
||||
// $\vec{r}^0_i$
|
||||
// Intended destination at iteration $t$ for pedestrian $i$
|
||||
Vector2d r[n_iter][n_p];
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
// $\vec{e}_i$
|
||||
// Desired direction to the next way point at iteration $t$ for pedestrian $i$
|
||||
Vector2d e[n_iter][n_p];
|
||||
p.f_i.reset();
|
||||
|
||||
// $v_i^{max}$
|
||||
// Maximum allowed speed for pedestrian $i$
|
||||
double v_max[n_p];
|
||||
|
||||
// $v_i^{0}$
|
||||
// Desired speed for pedestrian $i$
|
||||
double v_0[n_p];
|
||||
|
||||
// $\vec{F}_i$
|
||||
// Total social force for pedestrian $i$
|
||||
Vector2d F[n_p][n_p];
|
||||
|
||||
// $\vec{r}_0$
|
||||
// Desired destination of pedestrian $n_p$
|
||||
Vector2d r_0[n_p];
|
||||
|
||||
// create sidewalk
|
||||
Sidewalk S = init_sidewalk(10, 15);
|
||||
|
||||
// store Array of Structs, store all pedestrians
|
||||
Pedestrian *P = init_pedestrians();
|
||||
|
||||
// Our time unit (how long a timestep goes)
|
||||
double dt = 1;
|
||||
|
||||
// for each time frame
|
||||
for (int t = 0; t < n_iter; t++)
|
||||
{
|
||||
// for each pedestrian
|
||||
for (int i = 0; i < n_p; i++)
|
||||
{
|
||||
// update...
|
||||
Pedestrian &p = P[i];
|
||||
|
||||
// reset total social force
|
||||
p.F_i.reset();
|
||||
|
||||
//
|
||||
// $\vectorarrow{F}_\alpha(\vectorarrow{v}_\alpha, v^0_\alpha \vectorarrow{e}_\alpha) \vectorarrow{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vectorarrow{e}_\alpha - \vectorarrow{v}_\alpha)$
|
||||
//
|
||||
// # 8 flops
|
||||
compute_acceleration_term(&p);
|
||||
|
||||
// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = -\gradient_{\vectorarrow{r}_{\alpha \beta}} V_{\alpha \beta}[b(\vectorarrow{r}_{\alpha \beta})]$
|
||||
compute_repulsive_effects_from_pedestrians(P, &p, n_p);
|
||||
// # 55N - 55 flops
|
||||
compute_repulsive_effects_from_pedestrians(pedestrians, &p, n_p);
|
||||
|
||||
// TODO: finalize this method
|
||||
//
|
||||
// $\vectorarrow{F}_{\alpha B}(\vectorarrow{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert / R} \frac{\vectorarrow{r}_{\alpha B}}{\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert}$
|
||||
//
|
||||
compute_repulsive_effects_from_borders(S, &p);
|
||||
|
||||
// TODO: Update $\vec{w}_i$
|
||||
// $\vectorarrow{w}_i += \vectorarrow{v}_i + \vectorarrow{F}_idt$
|
||||
// Intermediate velocity: current_velocity + force impulse (Force * time) (Equation1)
|
||||
Vector2d w_i = p.curr_vel + p.F_i * dt;
|
||||
|
||||
// TODO: Update $\vec{v}_i^{t+1}$
|
||||
//
|
||||
// $\vec{v}_i^{t+1} += \vectorarrow{w}_ig(\frac{v^{max}_i}{\Arrowvert \vectorarrow{w}_i \Arrowvert}) $
|
||||
// Limit velocity to vMax
|
||||
double w_norm = w_i.norm();
|
||||
double g = (w_norm < 1e-6) ? 1.0 : fmin(1.0, p.vMax / w_norm);
|
||||
p.next_vel = w_i * g;
|
||||
|
||||
// TODO: Update $\vec{r}_i^{t+1}$
|
||||
// $\vec{r}_i^{t+1} += \vectorarrow{r}^t_i + v^t_idt$
|
||||
p.next_pos = p.curr_pos + p.curr_vel * dt;
|
||||
// # 144 flops
|
||||
compute_repulsive_effects_from_borders(board, &p);
|
||||
}
|
||||
// Pass2: integrate the forces and update the current state
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
// # 4 flops = 2 ADDs, 2 MULTs
|
||||
Vector2d w_alpha = p.curr_vel + p.f_i * dt;
|
||||
|
||||
for (int i = 0; i < n_p; i++)
|
||||
{
|
||||
// move each pedestrian to their next position
|
||||
P[i].update();
|
||||
// # 8 flops = 2 MULTs, 2 DIVs, 1 SQRT, 2 MULTs, 1 ADD
|
||||
p.curr_vel = w_alpha * g(p.v_max, w_alpha.norm());
|
||||
|
||||
// # 4 flops = 2 ADDs, 2 MULTs
|
||||
p.curr_pos = p.curr_pos + p.curr_vel * dt;
|
||||
|
||||
// # 10 flops = 5 ADDs, 2 DIVs, 1 SQRT, 2 MULTs
|
||||
p.e = (p.destination - p.curr_pos) / (p.destination - p.curr_pos).norm();
|
||||
}
|
||||
}
|
||||
int W = (8 + 55 * n_p - 55 + 144 + 4 + 8 + 4 + 10) * n_p * n_iter;
|
||||
std::cout << "W(n): ";
|
||||
std::cout << W;
|
||||
std::cout << " flops\n";
|
||||
|
||||
double T = stop_tsc(start);
|
||||
std::cout << "T(n): ";
|
||||
std::cout << T;
|
||||
std::cout << " cycles\n";
|
||||
|
||||
double P = W / T;
|
||||
|
||||
std::cout << "P(n): ";
|
||||
std::cout << P;
|
||||
std::cout << " flops/cycle\n";
|
||||
|
||||
delete[] pedestrians;
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
#pragma once
|
||||
#include "random"
|
||||
#include "vector2d.hpp"
|
||||
|
||||
// For visual simulation
|
||||
enum Color { BLACK, WHITE };
|
||||
|
||||
struct Pedestrian {
|
||||
Color color;
|
||||
Vector2d curr_vel;
|
||||
Vector2d curr_pos;
|
||||
Vector2d e;
|
||||
double v_max;
|
||||
double desired_v0;
|
||||
Vector2d destination;
|
||||
Vector2d f_i;
|
||||
|
||||
Pedestrian() : color(WHITE), curr_vel(0.0, 0.0), curr_pos(0.0, 0.0), e(0.0, 0.0), v_max(0.0), desired_v0(0.0), destination(0.0, 0.0), f_i(0.0, 0.0) {}
|
||||
|
||||
Pedestrian(Color clr, Vector2d c_v, Vector2d c_p, Vector2d e, double v_max, double desired_v0, Vector2d d, Vector2d f) : color(clr), curr_vel(c_v), curr_pos(c_p), e(e), v_max(v_max), desired_v0(desired_v0), destination(d), f_i(f) {}
|
||||
};
|
||||
@@ -0,0 +1,6 @@
|
||||
- [ ] SQRT == 1 flop? EXP == 1 flop?
|
||||
- [ ] Where to start measurements, do we include measurements?
|
||||
- [ ] Can Vector2d be reused?
|
||||
- [ ] How precise do we have to be? How do we define "correctness"?
|
||||
- [ ] Do borders count as obstacles?
|
||||
- [ ] Do we use a fixed machine, frequency scaling, etc.
|
||||
@@ -1,24 +1,24 @@
|
||||
/* ==================== GNU C and possibly other UNIX compilers ===================== */
|
||||
#ifndef _WIN32
|
||||
#ifndef _WIN32
|
||||
|
||||
#if defined(__GNUC__) || defined(__linux__)
|
||||
#define VOLATILE __volatile__
|
||||
#define ASM __asm__
|
||||
#else
|
||||
/* if we're neither compiling with gcc or under linux, we can hope
|
||||
* the following lines work, they probably won't */
|
||||
#define ASM asm
|
||||
#define VOLATILE
|
||||
#endif
|
||||
#if defined(__GNUC__) || defined(__linux__)
|
||||
#define VOLATILE __volatile__
|
||||
#define ASM __asm__
|
||||
#else
|
||||
/* if we're neither compiling with gcc or under linux, we can hope
|
||||
* the following lines work, they probably won't */
|
||||
#define ASM asm
|
||||
#define VOLATILE
|
||||
#endif
|
||||
|
||||
#define myInt64 unsigned long long
|
||||
#define INT32 unsigned int
|
||||
#define myInt64 unsigned long long
|
||||
#define INT32 unsigned int
|
||||
|
||||
/* ======================== WIN32 ======================= */
|
||||
#else
|
||||
|
||||
#define myInt64 signed __int64
|
||||
#define INT32 unsigned __int32
|
||||
#define myInt64 signed __int64
|
||||
#define INT32 unsigned __int32
|
||||
|
||||
#endif
|
||||
|
||||
@@ -27,68 +27,57 @@
|
||||
* Time Stamp Counter. The Intel manuals contain more information.
|
||||
*/
|
||||
|
||||
|
||||
#define COUNTER_LO(a) ((a).int32.lo)
|
||||
#define COUNTER_HI(a) ((a).int32.hi)
|
||||
#define COUNTER_VAL(a) ((a).int64)
|
||||
|
||||
#define COUNTER(a) \
|
||||
((unsigned long long)COUNTER_VAL(a))
|
||||
#define COUNTER(a) ((unsigned long long)COUNTER_VAL(a))
|
||||
|
||||
#define COUNTER_DIFF(a,b) \
|
||||
(COUNTER(a)-COUNTER(b))
|
||||
#define COUNTER_DIFF(a, b) (COUNTER(a) - COUNTER(b))
|
||||
|
||||
/* ==================== GNU C and possibly other UNIX compilers ===================== */
|
||||
#ifndef _WIN32
|
||||
|
||||
typedef union
|
||||
{ myInt64 int64;
|
||||
struct {INT32 lo, hi;} int32;
|
||||
} tsc_counter;
|
||||
typedef union {
|
||||
myInt64 int64;
|
||||
struct {
|
||||
INT32 lo, hi;
|
||||
} int32;
|
||||
} tsc_counter;
|
||||
|
||||
#define RDTSC(cpu_c) \
|
||||
ASM VOLATILE ("rdtsc" : "=a" ((cpu_c).int32.lo), "=d"((cpu_c).int32.hi))
|
||||
#define CPUID() \
|
||||
ASM VOLATILE ("cpuid" : : "a" (0) : "bx", "cx", "dx" )
|
||||
#define RDTSC(cpu_c) ASM VOLATILE("rdtsc" : "=a"((cpu_c).int32.lo), "=d"((cpu_c).int32.hi))
|
||||
#define CPUID() ASM VOLATILE("cpuid" : : "a"(0) : "bx", "cx", "dx")
|
||||
|
||||
/* ======================== WIN32 ======================= */
|
||||
#else
|
||||
|
||||
typedef union
|
||||
{ myInt64 int64;
|
||||
struct {INT32 lo, hi;} int32;
|
||||
} tsc_counter;
|
||||
typedef union {
|
||||
myInt64 int64;
|
||||
struct {
|
||||
INT32 lo, hi;
|
||||
} int32;
|
||||
} tsc_counter;
|
||||
|
||||
#define RDTSC(cpu_c) \
|
||||
{ __asm rdtsc \
|
||||
__asm mov (cpu_c).int32.lo,eax \
|
||||
__asm mov (cpu_c).int32.hi,edx \
|
||||
}
|
||||
#define RDTSC(cpu_c) {__asm rdtsc __asm mov(cpu_c).int32.lo, eax __asm mov(cpu_c).int32.hi, edx}
|
||||
|
||||
#define CPUID() \
|
||||
{ \
|
||||
__asm mov eax, 0 \
|
||||
__asm cpuid \
|
||||
}
|
||||
#define CPUID() {__asm mov eax, 0 __asm cpuid}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
static void init_tsc() {
|
||||
; // no need to initialize anything for x86
|
||||
; // no need to initialize anything for x86
|
||||
}
|
||||
|
||||
static myInt64 start_tsc(void) {
|
||||
tsc_counter start;
|
||||
CPUID();
|
||||
RDTSC(start);
|
||||
return COUNTER_VAL(start);
|
||||
tsc_counter start;
|
||||
CPUID();
|
||||
RDTSC(start);
|
||||
return COUNTER_VAL(start);
|
||||
}
|
||||
|
||||
static myInt64 stop_tsc(myInt64 start) {
|
||||
tsc_counter end;
|
||||
RDTSC(end);
|
||||
CPUID();
|
||||
return COUNTER_VAL(end) - start;
|
||||
tsc_counter end;
|
||||
RDTSC(end);
|
||||
CPUID();
|
||||
return COUNTER_VAL(end) - start;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
#pragma once
|
||||
#include <math.h>
|
||||
|
||||
struct Vector2d {
|
||||
double x, y;
|
||||
Vector2d(double a, double b) : x(a), y(b) {}
|
||||
Vector2d() : x(.0), y(.0) {}
|
||||
Vector2d operator+(Vector2d v) const { return Vector2d(v.x + x, v.y + y); }
|
||||
Vector2d operator-(Vector2d v) const { return Vector2d(x - v.x, y - v.y); }
|
||||
Vector2d operator-(double a) const { return Vector2d(x - a, y - a); }
|
||||
Vector2d operator+(double a) const { return Vector2d(x + a, y + a); }
|
||||
Vector2d operator/(double a) const { return Vector2d(x / a, y / a); }
|
||||
Vector2d operator*(double a) const { return Vector2d(x * a, y * a); }
|
||||
Vector2d operator+=(const Vector2d &v) {
|
||||
*this = *this + v;
|
||||
return *this;
|
||||
}
|
||||
// # 4 flops = 1 SQRT, 2 MULTs, 1 ADD
|
||||
double norm() { return sqrt(x * x + y * y); }
|
||||
// # 3 flops = 2 MULTs, 1 ADD
|
||||
double dot(Vector2d v) { return x * v.x + y * v.y; }
|
||||
void reset() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
}
|
||||
};
|
||||
Reference in New Issue
Block a user