Merge branch 'ahmed' into 'main'

pedestrian.hpp

@@ -1,36 +1,47 @@
 #pragma once
+#include "constants.hpp"
 #include "vector2d.hpp"
 
-// For visual simulation
+// For visual simulation.
+// Black pedestrians move from left to right;
+// White pedestrians move from right to left.
 enum Color { BLACK, WHITE };
 
 struct Pedestrian {
+
   Color color;
+
   // $\vec{v}_{\alpha}(t)$
   Vector2d curr_vel; // v_alpha  (actual, ≤ v_max)
+
   // $\vec{w}_{\alpha}$
   Vector2d w; // w_alpha  (preferred, integrates force)
+
   // $\vec{r}_\alpha(t)$
   Vector2d curr_pos;
+
   // $\vec{e}_{\alpha}(t)$
   Vector2d e; // desired direction vector
+
   // $v_{\alpha}^{max} = 1.3 v^{0}_{\alpha}$
   double v_max;
+
   // $v_\alpha^0$
   double desired_v0;
+
   // $\vec{r}^0_\alpha$
   Vector2d destination;
+
   // social force
   Vector2d f_i;
 
-  Pedestrian()
-      : color(WHITE), curr_vel(0.0, 0.0), w(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) {}
+  // $s_\beta^2 = (v_\beta \Delta t)^2$
+  double s_b_sq;
 
-  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), w(c_v), // initialize w = v at t=0
-        curr_pos(c_p), e(e), v_max(v_max), desired_v0(desired_v0),
-        destination(d), f_i(f) {}
+  // $s_\beta \vec{e}_\beta = v_{\beta} \Delta t \vec{e}_{\beta}$
+  Vector2d s_b_e_b;
+
+  Pedestrian() : color(WHITE), curr_vel(0.0, 0.0), w(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), s_b_sq(0.0), s_b_e_b(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), w(c_v), curr_pos(c_p), e(e), v_max(v_max), desired_v0(desired_v0), destination(d), f_i(f), s_b_sq(c_v.dot(c_v) * DELTA_T_SQ), s_b_e_b(e * c_v.norm() * DELTA_T) {}
 };