hell yea

.clang-format

@@ -0,0 +1 @@
+ColumnLimit: 1000

.clangd

@@ -0,0 +1,2 @@
+CompileFlags:
+  Add: [-std=c++23]

board.hpp

@@ -0,0 +1,9 @@
+#pragma once
+#include "vector2d.hpp"
+
+struct Board {
+  double length, width;
+  Vector2d *borders; // array containing the position of each obstacle
+  int n_borders;     // number of obstacles
+  Board(double l, double w, int n, Vector2d *border) : length(l), width(w), n_borders(n), borders(border) {}
+};

forces.cpp

@@ -1,117 +1,120 @@
-#include <forces.h>
+#include "forces.hpp"
 #include <math.h>
 
-
+// # Done
-// return the direction between curr position and destination
-// $\vectorarrow{e}_\alpha(t)$
-Vector2d get_desired_direction(Pedestrian& p) {
-  Vector2d diff = p.desired_next_node - p.curr_pos;
-  double length = diff.norm();
-  return (p.desired_next_node - p.curr_pos) / length;
-}
-
-// return the direction between curr position and destination
-// $\vectorarrow{e}_\alpha(t)$
-Vector2d get_actual_direction(Pedestrian& p) {
-  Vector2d diff = p.actual_next_node - p.curr_pos;
-  double length = diff.norm();
-  return (p.actual_next_node - p.curr_pos) / length;
-}
-
-
-
 double w(Vector2d e, Vector2d f) {
-
+  if (e.dot(f) >= f.norm() * cos_phi)
-  if (e.dot(f) >= f.norm() * PHI_DEG) return 1.0;
+    return 1.0;
-  return C;
+  return c;
-
 }
 
-
+// # Done
-// F_i is the current position resp. direction vector of pedestrian p in time i?
 //
-// $\vectorarrow{F}_\alpha(\vectorarrow{v}_\alpha, v^0_\alpha \vectorarrow{e}_\alpha) \vectorarrow{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vectorarrow{e}_\alpha - \vectorarrow{v}_\alpha)$
+// $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) \vec{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
 //
 void compute_acceleration_term(Pedestrian *p) {
 
-  Vector2d desired_velocity = get_desired_direction(*p) * p->desired_v0;
+  // $v_{\alpha}^{0}\vec{e}_{\alpha}$
+  Vector2d desired_velocity = p->e * p->desired_v0;
 
-  // TODO: How to get this number
+  // $\vec{v}_{\alpha}(t)$
-  // Probably needs to lookup the map and see if the desired position is reachable
+  Vector2d actual_velocity = p->curr_vel;
-  Vector2d actual_velocity = get_actual_direction(*p) * p->actual_v0;
 
-  double tau_inv = 1 / TAU;
+  double tau_alpha_inv = 1 / tau_alpha;
-
-  p->F_i += (desired_velocity - actual_velocity) * tau_inv;
 
+  p->F_i += (desired_velocity - actual_velocity) * tau_alpha_inv;
 }
 
+// # Done
+//
+// $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
+//
+
+void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestrian *p, int N) {
 
-// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = -\gradient_{\vectorarrow{r}_{\alpha \beta}} V_{\alpha \beta}[b(\vectorarrow{r}_{\alpha \beta})]$
-void compute_repulsive_effects_from_pedestrians(Pedestrian* P, Pedestrian* p, int N) {
-  double delta_t = 0.5;  // assuming 0.5 seconds steps
   for (int i = 0; i < N; i++) {
-    // TODO: add check for $\vectorarrow{e} * \vectorarrow{f} >= \Arrowvert \vectorarrow{f} \Arrowvert \cos(\phi) $
-    // only consider close pedestrians
-    if (P + i == p) continue;
-    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();
 
-      // $\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert$
+    if (pedestrians + i == p)
-      Vector2d e_beta = get_actual_direction(P[i]);
+      continue;
-      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();
 
-      // $v_\beta \Delta t$
+    // # Optional: Do not consider far away pedestrians from current pedestrian
-      double v_beta_delta_t = P[i].actual_v0 * delta_t;
+    // # Might get better speed up, remove if not
+    // if ((pedestrians[i].curr_pos - p->curr_pos).norm() > DISTANCE) {
+    //   continue;
+    // }
 
-      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;
+    // $\vec{r}_{\alpha\beta}$
+    Vector2d r_ab = p->curr_pos - pedestrians[i].curr_pos;
 
-      //
+    // $\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert$
-      // $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vectorarrow{r}_{\alpha \beta}}b$
-      //
-      // TODO: what is $V^0_{\alpha \beta}$ probably some number?
-      //
-      //
-      // $\grad_{\vectorarrow{r}_{\alpha \beta}} = \frac{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert) (\frac{\vectorarrow{r}_{\alpha \beta}}{\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert} + \frac{\vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta}{\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert})}{4b}$
-      //
-      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);
-
-      // $\vectorarrow{f}_{\alpha \beta}$
-      Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
-      
-      p->F_i += f_alpha_beta_r_alpha_beta * w(get_desired_direction(*p), f_alpha_beta_r_alpha_beta * -1);
-    }
-  }
-}
-
-// TODO: missing
-void compute_repulsive_effects_from_borders(Sidewalk& S, Pedestrian* p) {
-  
-  Vector2d* obstacles = S.obstacles;
-  int n_obs = S.n_obstacles;
-
-  for (int i = 0; i < n_obs; i++) {
-    Vector2d obstacle = obstacles[i];
-    // TODO: find out the variables and parameters
-    //
-    // $\vectorarrow{F}_{\alpha B}(\vectorarrow{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert / R} \frac{\vectorarrow{r}_{\alpha B}}{\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert}$
-    //
-    double e = 2.718;
-
-    // $\vectorarrow{r}_{\alpha B}$
-    Vector2d r_ab = p->curr_pos - obstacle;
-    // $\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert$
     double r_ab_norm = r_ab.norm();
 
-    p->F_i += * w(get_desired_direction(*p), * -1);
+    // $\vec{e}_{\beta}$
+    Vector2d e_beta = pedestrians[i].e;
 
+    // $v_\beta \Delta t$
+    double v_beta_delta_t = pedestrians[i].desired_v0 * delta_t;
+
+    // $\vec{r}_{\alpha\beta} - \vec{v}_{\beta}\varDelta_{t}\vec{e}_{\beta}$
+    Vector2d r_ab_minus_v_beta_delta_t_e_beta = r_ab - (e_beta * v_beta_delta_t);
+
+    // $\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert$
+    double r_ab_minus_v_beta_delta_t_e_beta_norm = r_ab_minus_v_beta_delta_t_e_beta.norm();
+
+    // (4):
+    //
+    // $2b = \sqrt{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
+    //
+
+    double b = sqrt((r_ab_norm + r_ab_minus_v_beta_delta_t_e_beta_norm) * (r_ab_norm + r_ab_minus_v_beta_delta_t_e_beta_norm) - (v_beta_delta_t) * (v_beta_delta_t)) / 2;
+
+    // (7):
+    //
+    // $\grad_{\vec{r}_{\alpha \beta}}b = \frac{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert) (\frac{\vec{r}_{\alpha \beta}}{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert} + \frac{\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta}{\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert})}{4b}$
+    //
+    //
+    Vector2d delta_r_alpha_beta_b = (((r_ab / r_ab_norm) + (r_ab_minus_v_beta_delta_t_e_beta / r_ab_minus_v_beta_delta_t_e_beta_norm)) * (r_ab_norm + r_ab_minus_v_beta_delta_t_e_beta_norm)) / (4 * b);
+
+    // (5):
+    //
+    // $\vec{f}_{\alpha \beta}(\vec{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vec{r}_{\alpha \beta}}b$
+    //
+    //
+    Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta_b * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
+
+    // (11):
+    //
+    // $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta}) = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta})\vec{f}_{\alpha\beta}(\vec{r}_{\alpha} - \vec{r}_{\beta})$
+    //
+    // Add repulsive effects from other pedestrians to current pedestrian's social force
+    p->F_i += f_alpha_beta_r_alpha_beta * w(p->e, f_alpha_beta_r_alpha_beta * -1);
   }
-
 }
 
+// # Done
+void compute_repulsive_effects_from_borders(Board &B, Pedestrian *p) {
+
+  Vector2d *borders = B.borders;
+  int n_borders = B.n_borders;
+
+  for (int i = 0; i < n_borders; i++) {
+
+    Vector2d border = borders[i];
+
+    // $\vec{r}_{\alpha B}$
+    Vector2d r_alpha_B = p->curr_pos - border;
+
+    //
+    // $\vec{F}_{\alpha B}(\vec{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vec{r}_{\alpha B} \Arrowvert / R} \frac{\vec{r}_{\alpha B}}{\Arrowvert \vec{r}_{\alpha B} \Arrowvert}$
+    //
+
+    Vector2d F_alpha_B = (r_alpha_B / r_alpha_B.norm()) * (U0_AB / R) * std::exp(-r_alpha_B.norm() / R);
+
+    // (12):
+    // 
+    // $\vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{ B}) = w(\vec{e}_{\alpha}, -\vec{F}_{\alpha B})\vec{F}_{\alpha B}(\vec{r}_{\alpha} - \vec{r}_{ B})$
+    // 
+
+    p->F_i += F_alpha_B * w(p->e, F_alpha_B * (-1));
+  }
+}

forces.h

@@ -1,55 +0,0 @@
-#pragma once
-#include <pedestrian.h>
-#include <sidewalk.h>
-
-// Params
-// TODO: change this
-// $\tau$
-const double TAU = 1.0;  // time to reach desired speed in s
-
-// TODO: change this
-// $V^0_{\alpha \beta}$
-const double V0_AB = 2.1;
-
-// TODO: change this
-// $\sigma$
-const double SIGMA = 0.3;
-
-// TODO: change this
-// $U^0_{\alpha B}$
-const double U0_AB = 10.0;
-
-// TODO: change this
-// $R$
-const double R = 0.2;
-
-// TODO: change this
-// $C$
-const double C = 0.2;
-
-// TODO: change this
-// $\phi$
-const double PHI_DEG = 120.0;
-
-// TODO: change this
-const double DISTANCE = 2.0;
-
-
-// Helper functions
-
-Vector2d get_desired_direction(Pedestrian& p);
-
-Vector2d get_actual_direction(Pedestrian& p);
-
-double w(Vector2d e, Vector2d f);
-
-
-// Force functions
-
-void compute_acceleration_term(Pedestrian* p);
-
-void compute_repulsive_effects_from_pedestrians(Pedestrian* P, Pedestrian *p, int N);
-
-void compute_repulsive_effects_from_borders(Sidewalk& S, Pedestrian* p);
-
-

forces.hpp

@@ -0,0 +1,50 @@
+#pragma once
+#include "board.hpp"
+#include "pedestrian.hpp"
+#include <cmath>
+
+// $\tau_{\alpha}$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double tau_alpha = 0.5;
+
+// $V^0_{\alpha \beta}$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double V0_AB = 2.1;
+
+// $\sigma$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double SIGMA = 0.3;
+
+// $U^0_{\alpha B}$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double U0_AB = 10.0;
+
+// $R$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double R = 0.2;
+
+// $c$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double c = 0.5;
+
+// $\varphi$
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double phi = 100.0;
+
+const double cos_phi = cos(phi);
+
+// $\varDelta_{t}$
+// step size = 0.2 seconds
+// https://arxiv.org/pdf/cond-mat/9805244, page 8
+const double delta_t = 2;
+
+// # Optional (forces.cpp: compute_repulsive_effects_from_pedestrians)
+// const double DISTANCE = 2.0;
+
+double w(Vector2d e, Vector2d f);
+
+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);

main.cpp

@@ -1,125 +1,90 @@
-#include <cfloat>
+#include "board.hpp"
-#include <iostream>
+#include "forces.hpp"
-#include <math.h>
+#include "math.h"
-#include <vector2d.h>
+#include "pedestrian.hpp"
-#include <pedestrian.h>
+#include "vector2d.hpp"
-#include <sidewalk.h>
+
-#include <forces.h>
+double g(double v_max_alpha, double w_alpha_norm) {
+  if (w_alpha_norm <= v_max_alpha) {
+    return 1;
+  }
+  return v_max_alpha / w_alpha_norm;
+}
 
 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];
+  Pedestrian *P = new Pedestrian[n_p];
   for (int i = 0; i < n_p; i++) {
     P[i] = Pedestrian();
   }
   return P;
 }
 
-Sidewalk init_sidewalk(int width, int length) {
+Board init_board(int width, int length) {
-  
   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);
+  return Board(width, length, 4, obs);
 }
 
+int main(int argc, const char* argv[]) {
 
+  Board B = init_board(10, 15);
 
-int main() {
+  int n_p = atoi(argv[1]);
+  int n_iter = atoi(argv[2]);
 
-  // ! DONT TOUCH
+  Pedestrian *pedestrians = init_pedestrians(n_p);
 
-  // $\vec{v}^0_i$
-  // Velocity at iteration $t$ for pedestrian $i$
-  double v[n_iter][n_p];
-
-  // $\vec{r}^0_i$
-  // Intended destination at iteration $t$ for pedestrian $i$
-  Vector2d r[n_iter][n_p];
-
-  // $\vec{e}_i$
-  // Desired direction to the next way point at iteration $t$ for pedestrian $i$
-  Vector2d e[n_iter][n_p];
-
-  // $v_i^{max}$
-  // 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();
-
-  // 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
+    for (int i = 0; i < n_p; i++) {
+
+      Pedestrian &p = pedestrians[i];
+
       p.F_i.reset();
 
       //
-      // $\vectorarrow{F}_\alpha(\vectorarrow{v}_\alpha, v^0_\alpha \vectorarrow{e}_\alpha) \vectorarrow{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vectorarrow{e}_\alpha - \vectorarrow{v}_\alpha)$
+      // $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) \vec{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
       //
       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);
-
-
-      // TODO: finalize this method
       //
-      // $\vectorarrow{F}_{\alpha B}(\vectorarrow{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert / R} \frac{\vectorarrow{r}_{\alpha B}}{\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert}$
+      // $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
       //
-      compute_repulsive_effects_from_borders(S, &p);
+      compute_repulsive_effects_from_pedestrians(pedestrians, &p, n_p);
 
-
-      // TODO: Update $\vec{w}_i$
-      // $\vectorarrow{w}_i += \vectorarrow{v}_i + \vectorarrow{F}_idt$
-
-
-      // TODO: Update $\vec{v}_i^{t+1}$
       //
-      // $\vec{v}_i^{t+1} += \vectorarrow{w}_ig(\frac{v^{max}_i}{\Arrowvert \vectorarrow{w}_i \Arrowvert}) $
+      // $\sum_{B} \vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{B})$
       //
+      compute_repulsive_effects_from_borders(B, &p);
 
+      //
+      // $\vec{w}_i = \vec{v}_i + \vec{F}_idt$
+      //
+      p.w_alpha = p.curr_vel + p.F_i * delta_t;
 
-      // TODO: Update $\vec{r}_i^{t+1}$
+      //
-      // $\vec{r}_i^{t+1} += \vectorarrow{r}^t_i + v^t_idt$
+      // $\vec{v}_i^{t+1} = \vec{w}_ig(\frac{v^{max}_i}{\Arrowvert \vec{w}_i \Arrowvert}) $
-
+      //
+      p.next_vel = p.w_alpha * g(p.v_max, p.w_alpha.norm());
 
+      //
+      // $\vec{r}_i^{t+1} += \vec{r}^t_i + v^t_idt$
+      //
+      p.curr_pos = p.curr_pos + p.curr_vel * delta_t;
     }
 
     for (int i = 0; i < n_p; i++) {
-      // move each pedestrian to their next position
+      pedestrians[i].update();
-      P[i].update();
     }
-
   }
 
   return 0;

pedestrian.h

@@ -1,23 +0,0 @@
-#pragma once
-#include <vector2d.h>
-
-struct Pedestrian {
-  Pedestrian() : curr_pos(), next_pos(), curr_vel(), next_vel(), destination(), desired_next_node(), actual_next_node(), F_i(), desired_v0(1.34), actual_v0(1.34), vMax(1.34 * 1.3) {}
-  Pedestrian(Vector2d c_p, Vector2d n_p, Vector2d c_v, Vector2d n_v, Vector2d d, Vector2d d_n_n, Vector2d a_n_n, Vector2d f) : curr_pos(c_p), next_pos(n_p), curr_vel(c_v), next_vel(n_v), destination(d), desired_next_node(d_n_n), actual_next_node(a_n_n), F_i(f) {}
-  Vector2d curr_pos;  // $\vectorarrow{r}_\alpha(t)$
-  Vector2d next_pos;  // $\vectorarrow{r}_\alpha(t+1)$ position, curr_pos is needed because when calculating the force on pedestrian j, we need the old pos, not the updated
-  Vector2d curr_vel;
-  Vector2d next_vel;  // velocity
-  Vector2d destination;  // $\vectorarrow{r}^0_\alpha$
-  Vector2d desired_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
-  double desired_v0;  // $v_\alpha^0$ desired speed in m/s e.g. 1.34
-  double actual_v0;
-  double vMax; // vMax = v0 * 1.3
-  // direction Vector2d e = (dest - curr.position).norm() --> calculate on the fly or part of struct?
-  void update() {
-    curr_pos = next_pos;
-    curr_vel = next_vel;
-  }
-};

pedestrian.hpp

@@ -0,0 +1,85 @@
+#pragma once
+#include "vector2d.hpp"
+#include "random"
+
+
+struct Pedestrian {
+
+  // TODO: Update initial values
+  Pedestrian() :
+    curr_vel(),
+    curr_pos(),
+    e(),
+    v_max(1.34 * 1.3),
+    desired_v0(1.34),
+    destination(),
+    F_i(),
+    next_pos(),
+    next_vel(),
+    w_alpha()
+    {}
+
+  Pedestrian(
+    Vector2d c_v,
+    Vector2d c_p,
+    Vector2d e,
+    Vector2d d,
+    Vector2d f,
+    Vector2d n_p,
+    Vector2d n_v,
+    Vector2d w_alpha
+  ) : 
+  curr_vel(c_v), 
+  curr_pos(c_p), 
+  e(e),
+  v_max(),
+  desired_v0(),
+  destination(d), 
+  F_i(f), 
+  next_pos(n_p), 
+  next_vel(n_v), 
+  w_alpha(w_alpha)
+  {}
+
+  // $\vec{v}_{\alpha}(t)$
+  Vector2d curr_vel;
+
+  // $\vec{r}_\alpha(t)$
+  Vector2d curr_pos;
+
+  // $\vec{e}_{\alpha}(t)$
+  Vector2d e;
+
+  // $v_{\alpha}^{max} = 1.3 v^{0}_{\alpha}$
+  double v_max;
+
+  // $v_\alpha^0$
+  double desired_v0;
+
+  // # =============================================================
+
+  // $\vec{r}^0_\alpha$
+  Vector2d destination;
+
+  // social force
+  Vector2d F_i;
+
+  // # =============================================================
+
+  // $\vec{r}_\alpha(t+1)$
+  Vector2d next_pos;
+
+  // $\vec{v}_{\alpha}(t + 1)$
+  Vector2d next_vel;
+
+  // $\vec{w}_{\alpha}$
+  Vector2d w_alpha;
+
+  // # =============================================================
+
+  void update() {
+    curr_pos = next_pos;
+    curr_vel = next_vel;
+    e = (destination - curr_pos) / (destination - curr_pos).norm();
+  }
+};

sidewalk.h

@@ -1,10 +0,0 @@
-# pragma once
-# include <vector2d.h>
-
-// initialize map
-struct Sidewalk{
-  double length, width;
-  Vector2d* obstacles;  // array containing the position of each obstacle
-  int n_obstacles;  // number of obstacles
-  Sidewalk(double l, double w, int n, Vector2d* obs) : length(l), width(w), n_obstacles(n), obstacles(obs) {}
-};